Table 5.

Test 2: 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	120.1	100.2	0.76 ± 0.035	0.63 ± 0.058	3.21	2.76
Intel Edison	105.4	89.9	0.61 ± 0.051	0.52 ± 0.078	3.11	4.78
Racelogic VBOX IMU	106.1	104.23	0.66 ± 0.012	0.65 ± 0.05	2.3	3.38