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. 2021 Nov 3;21(21):7324. doi: 10.3390/s21217324

Table 3.

The CPU time of EKF algorithm to determine the position of a point with and without the proposed VCM [ms].

Method EKF + GM EKF + AR EKF + GM EKF + AR
Q Diagonal Diagonal Proposed Proposed
Data
First scenario 0.08 0.09 0.09 0.09
Second scenario 0.13 0.13 0.15 0.14
Third scenario 0.13 0.12 0.12 0.12
Fourth scenario 0.13 0.12 0.13 0.13
Fifth scenario 0.11 0.11 0.12 0.12
Sixth scenario 0.09 0.09 0.11 0.10