Global Systems for Mobile Position Tracking Using Kalman and Lainiotis Filters

Table 2

Per-iteration calculation burden of filters.

KF	4𝑛^3+3.5𝑛^2−1.5𝑛+4𝑛^2𝑚+𝑛𝑚+3𝑛𝑚^2+(16𝑚^3−3𝑚^2−𝑚)/6
LF	4𝑛𝑚+(58𝑛^3+9𝑛^2−7𝑛)/6
JKLF	𝑛^2+3𝑛 (join procedure)
SSKF	2𝑛^2+2𝑛𝑚−𝑛
SSLF	2𝑛^2+2𝑛𝑚−𝑛
JSSKLF	2𝑛 (join procedure)