Attitude Determination Method by Fusing Single Antenna GPS and Low Cost MEMS Sensors Using Intelligent Kalman Filter Algorithm

Table 2

Attitude angle estimation errors using different sensors.

Different sensors	Roll RMS	Pitch RMS	Yaw RMS	Roll STD	Pitch STD	Yaw STD
Gyro-Quaternion	11.7087	12.6745	2.5189	8.4046	12.1537	1.6373
Gyro-Euler	15.9387	17.3281	2.9679	8.0346	8.5878	1.5683
Acc.	0.6693	0.6486		0.3127	0.2969
GPS	2.7292	3.4792	1.7906	0.5783	0.4084	1.535