Research Article
Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations
Table 2
Test A: MSE of
Mode 2 during the variability of
and
, presented as mean (standard deviation).
| | MSE | | | | | | | |
| | Pitch (deg2) | 0.5 | 15.28 (6.95) | 12.94 (5.86) | 12.31 (5.56) | 11.2 (5.02) | 10.86 (4.86) | 10.44 (4.65) | | 0.1 | 13.77 (6.11) | 11.52 (5.08) | 10.93 (4.80) | 9.89 (4.30) | 9.58 (4.15) | 9.17 (3.94) | | 0.05 | 13.50 (6.04) | 11.29 (5.02) | 8.9 (5.88) | 9.67 (4.23) | 9.35 (4.07) | 8.94 (3.86) | | 0.01 | 13.13 (6.12) | 10.94 (5.06) | 10.36 (4.76) | 9.31 (4.21) | 8.99 (4.03) | 8.57 (3.81) |
| | Roll (deg2) | 0.5 | 2.62 (0.96) | 2.32 (1.02) | 2.25 (1.04) | 2.13 (1.09) | 2.10 (1.10) | 2.07 (1.12) | | 0.1 | 2.39 (1.00) | 2.11 (1.07) | 2.04 (1.09) | 1.94 (1.12) | 1.91 (1.13) | 1.87 (1.14) | | 0.05 | 2.27 (1.02) | 1.99 (1.08) | 1.81 (1.20) | 1.82 (1.11) | 1.79 (1.12) | 1.75 (1.12) | | 0.01 | 1.91 (1.04) | 1.67 (1.08) | 1.62 (1.09) | 1.53 (1.10) | 1.51 (1.10) | 1.48 (1.11) |
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