Design and Real-Time Implementation of a 3-Stage CnW Heading System on an Ubuntu Linux-Embedded Board

Table 1

RMSE with complete GPS data.

	1st data set	2nd data set
GPS#1/#2/#3 (COG)	0.5483, 0.5037, 0.4966	0.8183, 0.5616, 0.5997
Average of GPS#1/#2/#3 (COG)	0.5052	0.6211
Electronic compass	1.6553	10.5455
EKF-CI	0.4330	0.5122
3-Stage CnW	0.4262	0.4946