MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

Table 1

RMSEs of attitude, velocity, and position via the traditional and proposed methods.

Methods	PosN	PosE	Height	VelN	VelE	VelD	Heading	Pitch	Roll
	(m)			(m/s)			(deg)
Traditional AHRS	0.429	0.364	0.546	0.031	0.031	0.022	13.0	0.332	0.513
Proposed AHRS	0.413	0.316	0.540	0.031	0.031	0.022	0.8	0.340	0.341