Performance Trades for Multiantenna GNSS Multisensor Attitude Determination Systems

Table 4

Unscented Kalman filter error statistics: median attitude error.

Median errors	Roll (deg.)	Pitch (deg.)	Heading (deg.)
GNSS + INS	0.59	0.38	0.64
INS + Mag + SS	0.0041	0.047	0.045
GNSS + INS + Mag + SS	0.048	0.053	0.047