VB-Based Gaussian Sum Cubature Kalman Filter for Adaptive Estimation of Unknown Delay and Loss Probability

Table 3

Single step running time of SWVAKF, MLCKF, IUKF-NL, VBAKFLM, and proposed VBGSFDLM.

Filter	Single step running time (ms)
VBAKFLM	3.32-1
IUKF-NL	1.37
SWVAKF	1.53-1
MLCKF	3.76-1
VBGSFDLM	3.81