Inertial Navigation and Simultaneous Localization and Mapping Figure 11. The computational times of various filter configurations. a. The computational time of filter updates for UKF (in dash-dotted red lines) and compressed UKF (in solid blue lines). The time includes both GPS and SLAM update cycles. The UKF update time increases whenever new features are added to the filter between 600 and 800 steps, while the compressed version is maintained near constant, although there exist frequent spikes during the global updates. b. The cumulative time of UKF (in a dash-dotted red line), EKF (in a dotted cyan line), compressed UKF (in a dashed red line), and compressed EKF (in a solid blue line). 34 IEEE A&E SYSTEMS MAGAZINE AUGUST 2017