Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Table 3

Test A: MSE of all modes, presented as mean (standard deviation).

MSE	Mode 1	Mode 2	Mode 3	Mode 4	Mode 5
Pitch (deg^2)	25.25 (10)	8.57 (3.8)	24.47 (9.4)	87.53 (25.7)	23.64 (9.3)
Roll (deg^2)	3.65 (0.8)	1.48 (1.1)	3.88 (1.1)	151.35 (75.1)	2.82 (0.1)