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. 2014 Jan 9;14(1):1106–1131. doi: 10.3390/s140101106

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© 2014 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 7. — Heading error indicators. (a) Heading error signal; (b) the standard deviation of the heading error (STD_he) and (c) the mean squared error of the heading error (MSE_he).