Table 1 Computational complexity of some Equations
From: An improved multi-source information fusion method for IMU compensation of missile
Eq. | ICKF | MICKF | Eq. | ICKF | MICKF |
|---|---|---|---|---|---|
(15) | \(\frac{1}{3}n^{3} + 3n^{2}\) | \(\frac{1}{3}n^{3} + 3n^{2}\) | (22) | \(2nm\) | \(2nm + 2m^{2}\) |
(16) | \(4n^{3} - 2n^{2}\) | \(4n^{3} - 2n^{2}\) | (23) | \(4nm^{2} + 3m^{2}\) | \(4nm^{2} + 4m^{3} + 3m^{2}\) |
(17) | \(2n^{2}\) | \(2n^{2}\) | (24) | \(4n^{2} m + 2nm\) | \(\begin{gathered} 4n^{2} m + \left( {8m^{2} + 2m} \right)n \\ + 4m^{3} + 2m^{2} \\ \end{gathered}\) |
(18) | \(2n^{3} + 4n^{2}\) | \(2n^{3} + 4n^{2}\) | (25) | \(m^{3} + 2nm^{2} - nm\) | \(\left( {2m^{2} - m} \right)n + 3m^{3} - m^{2}\) |
(20) | \(\frac{1}{3}n^{3} + 3n^{2}\) | \(\begin{gathered} \frac{1}{3}n^{3} + \left( {3 + m} \right)n^{2} \\ + \left( {m^{2} + 6m} \right)n + \frac{1}{3}m^{3} + 3m^{2} \\ \end{gathered}\) | (26) | \(\begin{gathered} n^{3} + 2n^{2} m + 2n \\ + 3nm + m \\ \end{gathered}\) | \(\begin{gathered} n^{3} + 5n^{2} m + \left( {7m + 2} \right)n \\ + m^{3} + 3m^{2} + 3nm^{2} + 5m \\ \end{gathered}\) |
(21) | \(4n^{2} m - 2nm\) | \(\begin{gathered} 4mn^{2} + \left( {8m^{2} - 2m} \right)n \\ + 4m^{3} - 2m^{2} \\ \end{gathered}\) | (28) | \(2nm^{2} - nm + 2n^{2} m\) | \(\begin{gathered} 2n^{2} m + 6nm^{2} - nm \\ + 3m^{3} - m^{2} \\ \end{gathered}\) |