[Retracted] Motion Control and Tracking Control of UAV Based on Adaptive Sensor

Table 1

Comparison of attitude accuracy among EKF, CKF, and SVDCKF.

Method		The attitude angle/(°)
		Roll angle	Angle of pitch	Yaw angle
EKF	MAE	3.294/7	5.147/8	6.011/5
	STD	6.007/5	9.869/7	12.594/0
	RMSE	9.037/3	14.801/0	22.694/0
CKF	MAE	2.712/3	3.714/3	4.014/3
	STD	5.057/0	6.510/5	6.380/4
	RMSE	6.786/8	7.608/6	10.264/0
SVDCKF	MAE	1.703/6	1.972/3	1.928/0
	STD	3.548/2	4.396/8	4.467/2
	RMSE	3.335/1	3.436/3	4.136/2