Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Table 5

Test B: MSE () (in deg) and maximum error () (in deg) for all modes during major external acceleration periods (in detail).

External acceleration period	Mode 1		Mode 2		Mode 3		Mode 4		Mode 5
	pitch (deg^2)	pitch (deg)	pitch (deg^2)	pitch (deg)	pitch (deg^2)	pitch (deg)	pitch (deg^2)	pitch (deg)	pitch (deg^2)	pitch (deg)
Phase I	74.59	18.51	42.03	11.42	51.92	12.47	123.83	19.45	30.46	10.31
Phase II	70.59	21.70	26.69	10.45	33.07	12.39	66.92	13.48	27.98	9.69
	roll (deg^2)	roll (deg)	roll (deg^2)	roll (deg)	roll (deg^2)	roll (deg)	roll (deg^2)	roll (deg)	roll (deg^2)	roll (deg)
Phase III	50.34	17.29	37.85	14.42	15.12	8.57	48.16	10.08	25.46	8.13
Phase IV	47.63	16.95	22.63	9.51	24.35	11.48	42.07	11.78	18.96	9.18