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Statistical parameters of the heading angle distribution, before and after applying the proposed Kalman filter, along a straight path with a 60° heading angle, in real field tests.
| Before Filtering | After Filtering | |
|---|---|---|
| Standard deviation (°) | 16.5594 | 4.1326 |
| 95th-percentile range (centered on reference heading angle) (°) | 55.1185 | 14.7193 |
