A Simplified Kalman Filter for Integrated Navigation System with Low-Dynamic Movement

Table 3

Statistics for simulation test.

		Pitch	Roll	Yaw	East vel.	North vel.
Standard method	Mean	−0.13311	0.32575	−0.03588	0.00274	−0.00046
	Std.	2.23900	2.35837	2.38984	0.05173	0.04896
Simplified method	Mean	−0.06925	0.22736	−0.38139	−0.00273	−0.00333
	Std.	0.37249	0.38313	0.76169	0.025341	0.02609