Table 1.

Root mean square errors of attitude (unit: °).

		Method A	Method B	Method C	Method D	Method E
Test 1	Roll	1.68	2.25	1.89	6.86	4.18
	Pitch	2.18	2.63	2.41	6.14	3.54
	Average	1.93	2.44	2.15	6.50	3.86
Test 2	Roll	2.04	6.22	2.30	8.39	5.86
	Pitch	1.65	4.70	1.96	7.25	4.08
	Average	1.85	5.46	2.13	7.82	4.97
Test 3	Roll	1.89	3.27	1.92	9.59	7.31
	Pitch	2.34	4.00	2.44	8.63	4.37
	Average	2.12	3.64	2.18	9.11	5.84