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Normalized root mean square error (NRMSE) of the error from all of the different validations. All data are given as the percentage of the full scale.
| Accelerometers | Rate Gyroscopes | Magnetometers | |||||||
|---|---|---|---|---|---|---|---|---|---|
|
|
|
|
|||||||
| f1 | f2 | f3 | ω1 | ω2 | ω3 | h1 | h2 | h3 | |
| Test bed validation | 1.34 | 1.66 | 2.58 | 0.83 | 1.51 | 1.06 | 3.69 | 2.03 | 2.40 |
| Cross simulation validation | 0.11 | 1.08 | 1.08 | 4.3e−3 | 1.12e−5 | 1.28e−5 | NA | NA | NA |
