Table 1: Experimental parameters for IMU algorithms.

SymbolQuantityValue

The acceleration of gravity (around Helsinki, Finland)9.8189 m/s2

Sampling interval~1/150 s

Initial variance of the DCM state12 (rad/s)2

()2Initial variance of bias states0.12 (rad/s)2

DCM-state-prediction variance0.12 (rad/s)2

()2Bias-state-prediction variance0.00012 (rad/s)2

Variance of accelerometer measurement0.52 (m/s2)2

Variance of estimated acceleration102 (m/s2)2

A tuning parameter of Madgwick’s filter0.1

A tuning parameter of Mahony’s filter0.5