Journal of Sensors / 2016 / Article / Fig 11

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)

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