Performance Analysis of Alignment Process of MEMS IMU

Table 1

The statistical characteristics of the estimated pitch and roll.

Statistical characteristics, degree (°)	Pitch estimation by		Roll estimation by
	MTi-G	Proposed algorithm	MTi-G	Proposed algorithm
Mean value	−0.4699	−0.3142	0.3433	0.4896
Standard deviation	0.1270	0.0168	0.1949	0.0150