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

Table 3

Root mean squared errors of the acceleration test.

Method	Yaw RMSE (deg)	Pitch RMSE (deg)	Roll RMSE (deg)
DCM	1.19	0.42	0.17
Madgwick	0.31	0.93	0.87
Mahony	0.31	0.40	0.32
DCM	2.29	0.26	0.70
Madgwick	0.14	0.78	0.79
Mahony	0.16	0.30	0.40
Inertia-Link	2.61	0.50	3.45

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