Research Article
Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations
Figure 11
The MSE () in deg2 and maximum error () in deg of pitch and roll estimation by five modes in Test A, acceleration = 2.5 m/s2. Specifically for Mode 2, = 0.05, λ = 150. Mode 1 in (a) and (b), Mode 2 in (c) and (d), Mode 3 in (e) and (f), Mode 4 in (g) and (h), and Mode 5 in (i) and (j).
| (a) |
| (b) |
| (c) |
| (d) |
| (e) |
| (f) |
| (g) |
| (h) |
| (i) |
| (j) |