Journal of Sensors / 2016 / Article / Tab 1

Research Article

Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Table 1

(a) Test A: MSE () of Mode 1, Mode 3, Mode 4, and Mode 5 in detail. (b) Test A: maximum error () of Mode 1, Mode 3, Mode 4, and Mode 5 in detail.
(a)

Acc (m/s2)Mode 1Mode 3Mode 4Mode 5
pitch (deg2) roll (deg2) pitch (deg2) roll (deg2) pitch (deg2) roll (deg2) pitch (deg2) roll (deg2)

0.19.602.929.312.7199.4226.739.042.89
0.7524.773.2224.663.2092.56183.1022.922.82
1.529.793.5929.414.02113.20227.1328.792.86
2.536.844.8834.495.6044.94168.4333.824.03
Mean (sd)25.25 (10)3.65 (0.8)24.47 (9.4)3.88 (1.1)87.53 (25.7)151.35 (75.1)23.64 (9.3)3.15 (0.5)

(b)

Acc (m/s2)Mode 1Mode 3Mode 4Mode 5
pitch (deg) roll (deg) pitch (deg) roll (deg) pitch (deg) roll (deg) pitch (deg) roll (deg)

0.126.058.6126.058.6118.5210.1921.978.99
0.7527.937.7627.937.7620.8719.0222.976.56
1.529.166.8129.166.8123.7225.4422.455.74
2.529.7012.3029.7012.3016.4420.7423.699.35
Mean (sd)28.21 (1.4)8.87 (2.1)28.21 (1.4)8.87 (2.1)19.89 (2.7)18.85 (5.5)22.77 (0.6)7.66 (1.5)

We are committed to sharing findings related to COVID-19 as quickly and safely as possible. Any author submitting a COVID-19 paper should notify us at help@hindawi.com to ensure their research is fast-tracked and made available on a preprint server as soon as possible. We will be providing unlimited waivers of publication charges for accepted articles related to COVID-19. Sign up here as a reviewer to help fast-track new submissions.