High-Accuracy and Low-Cost Attitude Measurement Unit of the CubeSat

Table 2

RMSE and MAE of estimation error of Euler angles.

Attitude estimation layouts		Centralized layout I	Centralized layout II	Centralized layout III	Decentralized layout
Evaluation index
Yaw	RMSE (°)	0.00781	0.00633	0.00695	0.02085
	MAE (°)	0.00624	0.00506	0.00553	0.01677
Roll	RMSE (°)	0.01024	0.00803	0.00867	0.02266
	MAE (°)	0.00816	0.00641	0.00689	0.01809
Pitch	RMSE (°)	0.01034	0.00824	0.00852	0.02120
	MAE (°)	0.00827	0.00657	0.00680	0.01684