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Mean RMSEs of the orientation errors by Kalman filter, MCF, MCFCK and ED-MCFCK for the case of non-Gaussian noise with outliers.
| Filtering Methods | Global Orientation Error (″) |
Azimuth Error (″) | Pitch Error (″) |
|---|---|---|---|
| Kalman Filter | 24.60 | 16.22 | 18.49 |
| MCF | 10.87 | 5.23 | 9.53 |
| MCFCK | 10.76 | 4.81 | 9.62 |
| ED-MCFCK | 10.6 | 4.79 | 9.46 |
