Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter

Table 1

MSEs of attitude angles.

Algorithm	Roll	Pitch	Yaw
LMA-CO	0.1514°	0.1052°	0.7143°
WCF	1.2833°	1.0069°	0.5688°
Proposed method	0.0893°	0.0726°	0.1346°