Table 2.

The statistical properties of uncertain noise are the statistical results of alignment.

	Mean/°			Variance/°
	Pitch Error	Roll Error	Head Error	Pitch Error	Roll Error	Head Error
UPF	0.0454	0.0278	2.8174	0.0648	0.0634	4.9038
Adaptive UPF	0.0105	0.0122	−0.7304	0.0629	0.0425	2.2557