Table 3 The comparison of computational complexity
From: A novel robust iterated CKF for GNSS/SINS integrated navigation applications
Method | Computational complexity | |
|---|---|---|
In detail | In major | |
Traditional CKF | O(16d3 + m3 + 8md2 + 2m2d + 4d) | O(d3 + m3) |
Standard iterated CKF | O(8d3 + 2d + i*(8d3 + m3 + 8md2 + 2m2d + 2d)) | O(id3 + m3) |
The proposed novel robust iterated CKF | O(8d3 + m3 + 2d + i*(8d3 + 8md2 + 2m2d + 2d) + tm3) | O(id3 + (t + 1)m3) |