Table 1.

Angular errors of AEKF, MAGYQ and Delay MAGYQ attitude estimation filters for the texting scenario with all four subjects.

Algorithms	AEKF		MAGYQ		Delay MAGYQ
Mean/standard deviation	μ	σ	μ	σ	μ	σ
Roll (°)	0.6	0.5	1.8	1.1	1.0	0.9
Pitch (°)	1.8	0.6	2.7	1.8	1.6	1.3
Yaw (°)	6.7	4.7	6.5	4.4	6.2	4.7