Table 3.

Test 1: Errors of estimated roll angle using KF and UKF on Raspberry Pi and Intel Edison compared with the IMU from VBOX (ground truth).

	Roll Angle
	Norm Error (%)		RMS Error (${}^{\circ }$)		Maximum Error (${}^{\circ }$)
	KF	UKF	KF	UKF	KF	UKF
Raspberry Pi 3 Model B	43.38	42.29	2.41 ± 0.35	2.35 ± 0.04	19.32	19.06
Intel Edison	54.97	51.18	2.54 ± 0.21	5.37 ± 0.07	8.94	6.87
Racelogic VBOX IMU	48.89	45.51	2.33 ± 0.21	2.17 ± 0.32	6.38	6.66