Design and Real-Time Implementation of a 3-Stage CnW Heading System on an Ubuntu Linux-Embedded Board

Table 2

RMSE with the all three GPS missing some data.

	1st data set	2nd data set
GPS#1/#2/#3 (COG)	6.2169, 2.3857, 5.2544	5.4118, 4.9847, 4.5608
Average of GPS#1/#2/#3 (COG)	2.7220	2.7520
Electronic compass	1.6553	10.5455
EKF-CI	0.4633	0.9467
3-Stage CnW	0.4222	0.5012