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.
| EKF | UKF (for linear measurement equation) | Step | Flops | Step | Flops |
| Prediction update | | | Generate sigma points
| | State prediction
| | State prediction
| | Error covariance prediction | | Error covariance prediction
| | Subtotal | | Subtotal | |
| Measurement update | Filter gain
| | Filter gain
| | State update
| | State update
| | Error covariance update
| | Error covariance update
| | Subtotal | | Subtotal | |
| | In total | | In total | |
| | , | 30801 | | 42336 |
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