Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

Table 4

Comparison of computational cost of EKF and UKF.

EKF			UKF (for linear measurement equation)
Step		Flops	Step	Flops
Prediction update			Generate sigma points
	State prediction		State prediction
	Error covariance prediction		Error covariance prediction
	Subtotal		Subtotal
Measurement update	Filter gain		Filter gain
	State update		State update
	Error covariance update		Error covariance update
	Subtotal		Subtotal
	In total		In total
	,	30801		42336