Accurate Attitude Determination Based on Adaptive UKF and RBF Neural Network Using Fusion Methodology for Micro-IMU Applied to Rotating Environment

Table 2

Contrast of mean square error of GPS failure and GPS normal.

	Roll	Pitch	Yaw
UKF-GPS outage	2.0048	0.9882	0.8042
UKF-GPS normal	1.9740	0.6633	0.5834
AUKF-RBF- GPS outage	0.4185	0.3816	0.3658