Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

Table 3

Attitude error analysis with respect to mean, STD, and RMS.

	Mean			STD			RMS
	Roll	Pitch	Yaw	Roll	Pitch	Yaw	Roll	Pitch	Yaw
INS	0.14	0.38	−48.60	1.00	1.06	32.02	1.01	1.12	58.19
INS + Mag	0.13	0.45	2.39	1.00	1.19	5.85	1.00	1.27	6.32
INS + NHC	0.08	−0.12	−47.70	0.26	0.47	30.80	0.27	0.48	56.77
INS + NHC + Mag	0.07	−0.23	−1.06	0.26	0.50	4.73	0.28	0.55	4.84