Highly Efficient Sigma Point Filter for Spacecraft Attitude and Rate Estimation

Table 2

Residues of numerical mean estimation.

	𝐒	[^10−1,0,0;10−2,10^−1,0;10−3,10−4,10−1]	[^10−2,0,0;10−3,10^−2,0;10−4,10−5,10−2]	[^10−4,0,0;10−5,10^−4,0;10−6,10−7,10−4]
Mean	SS	2.151464×10^−18	1.319254×10^−19	5.591741×10^−22
	SO	1.734723×10^−18	6.505213×10^−19	1.694066×10^−21
	GS	0 (precise)	0 (precise)	0 (precise)
Covariance	SS	3.878960 ×10^−18	4.065758×10^−19	8.271806×10^−24
	SO	4.249187 ×10^−18	3.030437×10^−19	7.018860×10^−24
	GS	1.734723 ×10^−18	0 (precise)	2.339620×10^−24

SS: Spherical simplex set. SO: Schmidt orthogonal set. GS: Geometric simplex set.