Performance Analysis of Alignment Process of MEMS IMU

Table 2

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	39.7758	39.4934	39.3042	39.6591
Standard deviation	0.1336	0.0307	0.3483	0.0318