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. 2015 Aug 6;15(8):19302–19330. doi: 10.3390/s150819302

Table 1.

RMS roll angle error [radians].

Dataset Proposed Madgwick AscTec EKF
1LoopDown 0.0233 0.0370 0.0464 0.0287
2LoopsDown 0.0292 0.0470 0.0338 0.0314
3LoopsDown 0.0277 0.0405 0.0315 0.0331