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

Table 2.

RMS pitch angle error [radians].

Dataset Proposed Madgwick AscTec EKF
1LoopDown 0.0209 0.0336 0.0369 0.0284
2LoopsDown 0.0223 0.0369 0.0313 0.0384
3LoopsDown 0.0202 0.0360 0.0329 0.0392