Research Article
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 (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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