Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Table 4

Test B: MSE () (in deg²) and maximum error () (in deg) of attitude estimation of Mode 2 at various values of during all periods of time.

	Mode 2
	pitch	roll	pitch	roll
0.01	13.92	11.54	11.91	13.92
0.03	13.21	11.48	11.44	14.19
0.05	13.14	11.58	11.42	14.42
0.1	13.70	11.96	12.63	14.92
0.15	14.48	12.23	13.93	15.28
0.2	15.14	12.45	14.81	15.54
0.25	15.68	12.62	15.40	15.73
0.3	16.11	12.76	15.86	15.90