671921.fig.002a
(a)
671921.fig.002b
(b)
671921.fig.002c
(c)
671921.fig.002d
(d)
671921.fig.002e
(e)
671921.fig.002f
(f)
671921.fig.002g
(g)
671921.fig.002h
(h)
671921.fig.002i
(i)
671921.fig.002j
(j)
Figure 2: Component-wise errors of rotation matrix (a)–(i) and error of orthogonality (j) produced by the single-parameter method.