Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Table 6

Test B: MSE of all modes in degree.

MSE	Mode 1	Mode 2	Mode 3	Mode 4	Mode 5
Pitch (deg^2)	72.59	34.36	42.49	95.37	29.22
Roll (deg^2)	48.98	30.24	19.73	45.11	22.21