Mathematical Problems in Engineering / 2015 / Article / Tab 4

Research Article

Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

Table 4

Comparison of computational cost of EKF and UKF.

EKFUKF (for linear measurement equation)
StepFlopsStepFlops

Prediction updateGenerate sigma points 
State prediction 
State prediction 
Error covariance prediction Error covariance prediction 
SubtotalSubtotal

Measurement updateFilter gain 
Filter gain 
State update 
State update 
Error covariance update 
Error covariance update 
SubtotalSubtotal

In totalIn total

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