Unscented Particle Smoother and Its Application to Transfer Alignment of Airborne Distributed POS

Table 1

Means of RMSE and STD values of estimate errors.

Parameter		URTSS		UPS
		RMSE	STD	RMSE	STD
Attitude error	Heading (°)	3.7874	1.2914	0.4959	0.0217
	Pitch (°)	0.5166	0.1218	0.0766	0.0781
	Roll (°)	0.8238	0.0371	0.0569	0.0568
Velocity error	East (m/s)	0.0264	0.0245	0.0133	0.0134
	North (m/s)	0.0403	0.0414	0.0225	0.0148
	Up (m/s)	0.0125	0.0124	0.0224	0.0211
Position error	Latitude (m)	2.1444	0.0990	1.0077	0.0529
	Longitude (m)	1.7280	0.0878	0.0510	0.0495
	Height (m)	0.1078	0.0987	0.1294	0.0126
Baseline error	(m)	0.7039	0.0532	0.0014	0.0008