Table 3: Root mean squared errors of the acceleration test.

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

DCM1.190.420.17
Madgwick0.310.930.87
Mahony0.310.400.32
DCM2.290.260.70
Madgwick0.140.780.79
Mahony0.160.300.40
Inertia-Link2.610.503.45

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