An Initial Alignment Technology of Shearer Inertial Navigation Positioning Based on a Fruit Fly-Optimized Kalman Filter Algorithm

Table 3

Comparison of initial alignment errors for the four algorithms.

Name	Pitch	Roll	Yaw	Average error
PSO-KF	0.000050336	0.000065926	0.000045396	0.000053886
FOA-KF	0.000047334	0.000062827	0.000006588	0.000038916
GFOA-KF	0.000042335	0.000057818	0.000004314	0.000034822
IFOA-KF	0.000036726	0.000052809	0.000000242	0.000029257