Design of an Extended Interacting Multiple Models Adaptive Estimator for Attitude Determination of a Stereoimagery Satellite

Table 4

Comparing results of EIMMAE structure with IMM_L and IMM_CT methods.

Method	Average RMS error for 3 maneuvers (degree)
	(1/3)∑(1/(𝑡𝑛−𝑡0))∑^𝑡𝑛𝑡=𝑡0|𝑒(𝑡)|
	t0=180, 280, 380 tn= 200, 300, 400
	Roll Δ𝜑; (Deg.)	Pitch Δ𝜃; (Deg.)	Yaw Δ𝜓; (Deg.)
IMM_CT	0.405×10^−3	0.411×10^−3	0.376×10^−2
IMM_L	0.332×10^−3	0.345×10^−3	0.228×10^−2
EIMMAE	0.256×10^−3	0.251×10^−3	0.223×10^−2