Research Article
Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints
Table 3
Attitude error analysis with respect to mean, STD, and RMS.
| | Mean | STD | RMS | Roll | Pitch | Yaw | Roll | Pitch | Yaw | Roll | Pitch | Yaw |
| INS | 0.14 | 0.38 | −48.60 | 1.00 | 1.06 | 32.02 | 1.01 | 1.12 | 58.19 | INS + Mag | 0.13 | 0.45 | 2.39 | 1.00 | 1.19 | 5.85 | 1.00 | 1.27 | 6.32 | INS + NHC | 0.08 | −0.12 | −47.70 | 0.26 | 0.47 | 30.80 | 0.27 | 0.48 | 56.77 | INS + NHC + Mag | 0.07 | −0.23 | −1.06 | 0.26 | 0.50 | 4.73 | 0.28 | 0.55 | 4.84 |
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