Design of an Attitude and Heading Reference System Based on Distributed Filtering for Small UAV

Table 1

The error between AHRS outputs and the reference values for the dynamic test on the ground.

	Pitch angle error (°)		Roll angle error (°)		Yaw angle error (°)
	Mean	Variance	Mean	Variance	Mean	Variance
Dynamic test	−0.017	0.069	−0.056	0.089	−0.013	0.150