Table 2: Root mean squared errors of the rotation test.

MethodYaw RMSE (deg)Pitch RMSE (deg)Roll RMSE (deg)

DCM1.570.560.61
Madgwick2.400.981.52
Mahony2.490.680.82
DCM3.911.291.46
Madgwick4.281.461.71
Mahony4.201.221.05
Inertia-Link5.681.172.09

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