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

Table 6

RMSE and MAE of estimation error of Euler angles.

Attitude estimation layouts		Decentralized layout	FUKF with two STR	FEKF with three STR
Evaluation index
Yaw	RMSE (°)	0.02085	0.01965	0.03805
	MAE (°)	0.01677	0.01596	0.02970
Roll	RMSE (°)	0.02266	0.02182	0.04446
	MAE (°)	0.01809	0.01692	0.03585
Pitch	RMSE (°)	0.02120	0.02023	0.04373
	MAE (°)	0.01684	0.01644	0.03505