An Efficient Nonlinear Filter for Spacecraft Attitude Estimation

Table 3

The maximum absolute steady estimation errors.

	Δ𝜔  (10^−4deg/s)			Δ𝑏  (10^−6deg/s)
	Δ𝜔𝑥	Δ𝜔𝑦	Δ𝜔𝑧	Δ𝑏𝑥	Δ𝑏𝑦	Δ𝑏𝑧
PEF	1.904	1.971	1.789	3.826	4.458	2.858
MEKF	1.897	1.963	1.852	2.320	2.789	2.179