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

Table 3

The STD in IKF and EKF.

STD	Roll		Pitch		Yaw
	EKF	IKF	EKF	IKF	EKF	IKF
Sec. 1	0.556494	0.526692	0.644948	0.335493	1.317089	0.48039
Sec. 2	1.251228	0.377351	0.782464	0.546662	1.078504	0.283883
Sec. 3	0.469554	0.176453	0.580741	0.116373	0.723493	0.649624
Total	0.6502	0.3035	0.7171	0.3347	1.4932	1.1556