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

Table 2

The attitude error between AHRS outputs and MIMU/GPS integrated system outputs for flight test.

	Pitch angle error (°)		Roll angle error (°)		Yaw angle error (°)
	Mean	Variance	Mean	Variance	Mean	Variance
Flighting test	1.84	3.73	−1.12	4.43	—	—