TABLE 4

Comparing CUDARecv and PyGNSS Computational Performance

Parallelized DPE (CUDARecv)Sequential DPE (PyGNSS)
OperationTime (No Nav. Filter)Time (Nav. Filter)Time (No Nav. Filter)Time (Nav. Filter)
DPInitNegligibleNegligible--
SampleBlockNegligibleNegligible--
BatchCorrScores0.113 s0.113 s0.460 s0.452 s
    Replica Gen.0.053 s0.053 s0.050 s0.050 s
    FFTs0.060 s0.060 s0.410 s0.402 s
BatchCorrManifold0.842 s0.731 s2.28 s2.32 s
    Pos. Manifold0.366 s0.363 s1.056 s1.050 s
    Vel. Manifold0.373 s0.367 s0.940 s0.936 s
    Measurement Gen.0.103 s<0.001 s<0.001 s0.044 s
cuEKF<0.001 s<0.001 s--
ChannelManager0.001 s0.001 s--
DataLoggerNegligibleNegligible--
Total0.959 s0.846 s2.91 s2.93 s