Efficiency Improvement of Kalman Filter for GNSS/INS through One-Step Prediction of Matrix

Table 1

Comparisons on arithmetic operand number (in 1 s cycle) and improved efficiency between standard and simplified GNSS/INS algorithm.

	A&S	M	D	SR	T
Standard algorithm	3701430	3847308	1852	303	717
Median algorithm	64716 (98.3%)	67560 (98.2%)	70 (96.2%)	6 (98.0%)	24 (96.7%)
Mean algorithm	66326 (98.2%)	67810 (98.2%)	183 (90.1%)	107 (64.7%)	343 (52.2%)
Multiplication algorithm	953226 (74.2%)	1008366 (73.8%)	169 (90.8%)	105 (65.3%)	24 (96.7%)