Table 2.

Filtering time comparison.

Scheme	Maximum	Minimum	Mean	Variance
Error-state	1.868 × 10−3 s	8.03 × 10−5 s	7.573 × 10−4 s	4.8364 × 10−8
Full-state	3.954 × 10−3 s	9.21 × 10−5 s	9.033 × 10−4 s	1.4365 × 10−7