Performance Analysis of Alignment Process of MEMS IMU

Table 4

The statistical characteristics of the estimated pitch and roll (R = 0.01 · I).

Statistical characteristics, degree (°)	Pitch estimation by		Roll estimation by
	KF	Modified KF	KF	Modified; KF
Mean value	0.2648	0.2646	0.4512	0.4510
Standard deviation	0.0096	0.0040	0.0128	0.0055