Table 2: Root mean squared errors of the rotation test. |
| Method | Yaw RMSE (deg) | Pitch RMSE (deg) | Roll RMSE (deg) |
| DCM | 1.57 | 0.56 | 0.61 | Madgwick | 2.40 | 0.98 | 1.52 | Mahony | 2.49 | 0.68 | 0.82 | DCM | 3.91 | 1.29 | 1.46 | Madgwick | 4.28 | 1.46 | 1.71 | Mahony | 4.20 | 1.22 | 1.05 | Inertia-Link | 5.68 | 1.17 | 2.09 |
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Data of Microstrain Inertia-Link (A) and SparkFun 6DOF digital IMU (B). The most accurate value in the test.
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