Journal of Sensors / 2016 / Article / Tab 5

Research Article

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 periodMode 1Mode 2Mode 3Mode 4Mode 5
pitch (deg2) pitch (deg) pitch (deg2) pitch (deg) pitch (deg2) pitch (deg) pitch (deg2) pitch (deg) pitch (deg2) pitch (deg)

Phase I74.5918.5142.0311.4251.9212.47123.8319.4530.4610.31
Phase II70.5921.7026.6910.4533.0712.3966.9213.4827.989.69

roll (deg2) roll (deg) roll (deg2) roll (deg) roll (deg2) roll (deg) roll (deg2) roll (deg) roll (deg2) roll (deg)

Phase III50.3417.2937.8514.4215.128.5748.1610.0825.468.13
Phase IV47.6316.9522.639.5124.3511.4842.0711.7818.969.18

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