Robust all-source positioning of UAVs based on belief propagation

EURASIP Journal on Advances in Signal Processing

Table 2 Computational complexity of node m in the proposed BOPU

Computation	Complexity	Iteration/epoch
Dead-reckon message	$O (n_{a} + n_{a}^{2})$	1
Satellite factor message	$O \| S_{m}^{(k)} \| n_{a}$	I
Carrier phase factor message	$O \| S_{m}^{(k)} \| n_{a}$	I
Message to peers	$O (N \| S_{m}^{(k)} \| (1 + \| M_{m}^{(k)} \| + \| S_{m}^{(k)} \|$	I
Message to peers	$+ \sum_{g \in G} \| G_{m}^{(g, k)} \|) n_{a}^{3})$	I
Message from range neighbors	$O (\| M_{m}^{(k)} \|) n_{a}^{3})$	I
Message from SoOP neighbors	$O (\sum_{g \in G} \| G_{m}^{(g, k)} \|) n_{a}^{3})$	I
Compute $p (x_{m}^{(k)} \| {\tilde{O}}_{M}^{(1 : k)})$	$O (N (1 + \| M_{m}^{(k)} \| + \| S_{m}^{(k)} \|$	I
Compute $p (x_{m}^{(k)} \| {\tilde{O}}_{M}^{(1 : k)})$	$+ \sum_{g \in G} \| G_{m}^{(g, k)} \|) n_{a}^{3})$	I