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Table 2 Root mean squared errors in attitude and position estimations

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