A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs

Figure 10

An artificial 1 deg./s bias is added to all gyroscope measurements in the acceleration test. Gyroscope bias estimators for bias around and converge rapidly towards the correct bias (reference, the black slashed line). The corresponding standard deviations estimated by the EKF are visualized in the same plots using 1-sigma distance to the reference bias.