From: A MIMU/GPS/magnetometer integrated alignment method based on sequential robust estimation
Schemes | Methods | Pitch | Roll | Head | East | North | Up |
---|---|---|---|---|---|---|---|
Scheme 1 | EKF | 0.2176 | 0.1837 | 0.3876 | 3.3071 | 2.1938 | 2.0032 |
SRKF | 0.1323 | 0.1255 | 0.3787 | 0.7228 | 1.1082 | 0.5723 | |
Scheme 2 | EKF | 0.1287 | 0.1241 | 0.5143 | 0.6718 | 1.0561 | 0.5452 |
SRKF | 0.1224 | 0.1267 | 0.4526 | 0.7029 | 1.0479 | 0.5419 | |
Scheme 3 | EKF | 0.2252 | 0.1786 | 1.3556 | 3.3252 | 2.1022 | 2.0156 |
SRKF | 0.1316 | 0.1268 | 0.3671 | 0.7066 | 1.1181 | 0.5708 |