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

Data of Microstrain Inertia-Link (A) and SparkFun 6DOF digital IMU (B). The most accurate value in the test.