Global Systems for Mobile Position Tracking Using Kalman and Lainiotis Filters

Table 4

Speedup.

			1	2	3	4	5	6	7	8	9	10	11	12
			Model A						Model B
			KF	LF	JKLF	SSKF	SSLF	JSSKLF	KF	LF		SSKF	SSLF	JSSKLF
1	Model A	KF		0,760	0,427	11,568	11,568	4,314	3,688	2,860	0,795	25,450	25,450	5,194
2		LF	1,316		0,563	15,227	15,227	5,678	4,855	3,764	1,047	33,500	33,500	6,837
3		JKLF	2,340	1,778		27,068	27,068	10,093	8,630	6,691	1,861	59,550	59,550	12,153
4		SSKF	0,086	0,066	0,037		1,000	0,373	0,319	0,247	0,069	2,200	2,200	0,449
5		SSLF	0,086	0,066	0,037	1,000		0,373	0,319	0,247	0,069	2,200	2,200	0,449
6		JSSKLF	0,232	0,176	0,099	2,682	2,682		0,855	0,663	0,184	5,900	5,900	1,204
7	Model B	KF	0,271	0,206	0,116	3,136	3,136	1,169		0,775	0,216	6,900	6,900	1,408
8		LF	0,350	0,266	0,149	4,045	4,045	1,508	1,290		0,278	8,900	8,900	1,816
9		JKLF	1,257	0,955	0,537	14,545	14,545	5,424	4,638	3,596		32,000	32,000	6,531
10		SSKF	0,039	0,030	0,017	0,455	0,455	0,169	0,145	0,112	0,031		1,000	0,204
11		SSLF	0,039	0,030	0,017	0,455	0,455	0,169	0,145	0,112	0,031	1,000		0,204
12		JSSKLF	0,193	0,146	0,082	2,227	2,227	0,831	0,710	0,551	0,153	4,900	4,900