Table 1.

Averaged RMSEs for the mechanical IP.

Tested algorithms	RMSE [°] mean ± std
Quasi-real time algorithm	0.40 ± 0.02
Bagalàet al. algorithm [19]	0.39 ± 0.05
EKF: $\mathbf{\text{z}}(k)={\left[a_x(k)a_y(k)g_z(k)\right]}^T$	0.45 ± 0.05
EKF: $\mathbf{\text{z}}(k)={\left[a_x(k)g_z(k)\right]}^T$	0.46 ± 0.05
EKF: $\mathbf{\text{z}}(k)={\left[a_y(k)g_z(k)\right]}^T$	2.12 ± 0.15
EKF: $\mathbf{\text{z}}(k)={\left[a_x(k)a_y(k)\right]}^T$	20.64 ± 12.48
EKF: z(k) = ax(k)	26.71 ± 0.70
EKF: z(k) = ay(k)	41.83 ± 7.50
EKF: z(k) = gz(k)	8.87 ± 6.92