Table 1.
Parameter tuning.
| Static test | ||
|---|---|---|
| Filtering algorithm | Models for magnetic distortion | |
| Perturbation OFF | Perturbation ON | |
| VSD-EKF | GM-1 | GM-2 |
| Correlation time constant, s Standard deviation |
0.1 5 · 10−2 a.u./s |
0.2 5 · 10−1 a.u./s2 |
| Higher-order EKF | GM-2 | GM-2 |
| Correlation time constant, s Standard deviation, a.u./s2 |
0.1 5 · 10−5 |
0.2 5 · 10−1 |
| Quiescent EKF | GM-1 | GM-1 |
| Correlation time constant, s Standard deviation, a.u./s |
0.1 5 · 10−2 |
0 5 |
| Dynamic test | ||
| Filtering algorithm | Models for magnetic distortion | |
| Perturbation OFF | Perturbation ON | |
| VSD-EKF | GM-1 | GM-2 |
| Correlation time constant, s Standard deviation |
0.1 5 · 10−2 a.u./s |
0.2 5 · 10−2 a.u./s2 |
| Higher-order EKF | GM-2 | GM-2 |
| Correlation time constant, s Standard deviation, a.u./s2 |
0.1 5 · 10−5 |
0.2 5 · 10−1 |
| Quiescent EKF | GM-1 | GM-1 |
| Correlation time constant, s Standard deviation, a.u./s |
0.1 5 · 10−2 |
0.4 5 |