Computational Analysis of Relaxed Unscented Transformation in terms of necessary floating point operations

Abstract

The paper systematically compares the computational demand of the original and relaxed Unscented Transformation. By deriving the pseudocodes of the methods, the number of necessary floating-point operations is determined depending on the complexity of the considered dynamics. Based on the obtained formulas, the paper shows the computational benefits of the relaxed Unscented Transformation.