Table 5.

Kalman filters complexity.

Algorithm	$\mathit{T}\mathbf{(}\mathbf{.}\mathbf{)}$	$\mathcal{O}\mathbf{(}\mathbf{.}\mathbf{)}$
(E)KF	$4n^3+4m^3+6m^{2}n+4n^{2}m+3n^2+\cdots$	$4n^3$
UKF	$10n^3+4n^{2}m+14m^{2}n+23n^2+6m^2+\cdots$	$10n^3$