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

Table 6

Time consumption comparison of standard and simplified GPS/INS algorithms.

	Standard algorithm (s)	Simplified algorithm (s)	Increased efficiency (%)
MTi-G (#1)	108.01	48.91	54.7
MTi-G (#2)	199.24	91.15	54.3
FSAS	395.26	183.86	53.5