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

Table 7

RMSE and MAE of estimation error of gyro biases.

Attitude estimation layouts		Decentralized layout	FUKF with two STR	FEKF with three STR
Evaluation index
	RMSE (°/s)	0.00321	0.00295	0.00389
	MAE (°/s)	0.00249	0.00217	0.00315
	RMSE (°/s)	0.00283	0.00277	0.00396
	MAE (°/s)	0.00226	0.00216	0.00323
	RMSE (°/s)	0.00284	0.00284	0.00329
	MAE (°/s)	0.00234	0.00232	0.00259