Research Article
Algorithm Improvement of the Low-End GNSS/INS Systems for Land Vehicles Navigation
Table 5
Numbers of operations for Kalman filters corresponding to different GPS/INS integration algorithms.
| | | A&S | M | D | SR | T |
| | Standard algorithm (100 Hz) | 308865 | 403385 | 217 | 107 | 16 | | Modified algorithm (100 Hz) | 94610 (31%) | 137707 (34%) | 118 (54%) | 8 (7%) | 4 (25%) | | Standard algorithm (10 Hz) | 52095 (17%) | 63095 (16%) | 127 (59%) | 17 (16%) | 16 (100%) | | Modified algorithm (10 Hz) | 18200 (6%) | 23407 (6%) | 118 (54%) | 8 (7%) | 4 (25%) |
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Note: adds (A), subtracts (S), multiplies (M), divides (D), square roots (SR), and trigonometric (T).
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