Journal of Sensors / 2016 / Article / Tab 3

Research Article

Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Table 3

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

MSEMode 1Mode 2Mode 3Mode 4Mode 5

Pitch (deg2)25.25 (10)8.57 (3.8)24.47 (9.4)87.53 (25.7)23.64 (9.3)
Roll (deg2)3.65 (0.8)1.48 (1.1)3.88 (1.1)151.35 (75.1)2.82 (0.1)

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