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Table 4 Computational complexity of KF-based and FOSB-based tracking schemes

From: A reduced-complexity scheme using message passing for location tracking

Tracking Algorithms Number of Multiplications and Division Number of Additions and Subtractions Inverse Operation Transpose
Operations
KF
(X, Y)
S(3S2+3SP+2P2)
320
3S3+S2(3P-2)+S(2P2-3P)+P
266
[ ]P × P
[ ]2 × 2
[ ]S × S, [ ]S × P
[ ]4 × 4, [ ]4 × 2
KF decoupling
(X, Y)
40 × 2 = 80 27 × 2 = 54 / 2:[ ]S × S, 2:[ ]S × P
2:[ ]2 × 2, 2:[ ]2 × 1
KF decoupling
(X, Y)
13 × 2 = 26
(0 or 1 eliminated)
16 × 2 = 32
(0 eliminated)
/ /
FOSB (X, Y) 15 × 2 = 30 9 × 2 = 18 / /
  1. S: States of the System (S = 4) P: Inputs of the System (P = 2)