Table 1.

Convergence of simulation.

Sensor No. j	Gain Gj (-)		Bias Bj (deg·s−1)		RMSj (deg·s−1)
	Estimated	True	Estimated	True	Estimated	True
1	0.956946	0.956949	−25.5111	−25.5107	0.103	0.101
2	0.998366	0.998368	−8.0970	−8.0975	0.097	0.099
3	0.963520	0.963516	−13.9765	−13.9773	0.077	0.077
4	1.016634	1.016636	6.7336	6.7339	0.085	0.088
5	0.990664	0.990654	34.6136	34.6141	0.163	0.162
6	0.963372	0.963376	−6.1223	−6.1218	0.049	0.053
7	0.990176	0.990172	46.9899	46.9911	0.147	0.147
8	0.987289	0.987301	15.0531	15.0539	0.101	0.102
9	1.008443	1.008421	−81.3185	−81.3222	0.198	0.204
10	1.053295	1.053302	−23.8845	−23.8849	0.094	0.101
11	1.003599	1.003604	45.7136	45.7147	0.076	0.079
12	0.996136	0.996143	−33.4840	−33.4843	0.055	0.060
13	1.056180	1.056180	11.0308	11.0311	0.064	0.070
14	0.988030	0.988037	−0.2502	−0.2506	0.123	0.122
15	0.972770	0.972752	2.3391	2.3411	0.177	0.173
16	1.054589	1.054589	30.1703	30.1694	0.072	0.078