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

Table 4

Attitude angle estimation errors using fusion and filter.

Fusion algorithm	Roll RMS	Pitch RMS	Yaw RMS	Roll STD	Pitch STD	Yaw STD
EKF-Fix Gain	0.6764	0.7324	1.7355	0.6502	0.7171	1.4932
Fusion-Complementary (CF)	0.6377	0.6442	2.9679	0.2359	0.2539	1.5691
Benchmark algorithm	0.6603	0.6001	2.006	0.2636	0.2912	1.6940
IKF and Fusion	0.3059	0.3337	1.3049	0.3035	0.3347	1.1556