Table 2.

Comparison results summary for all combinations of the various methods, showing the error in heading angle during the last segment of the 85-second scenario (N.C. values indicate errors that are quickly drifting and non-comparable).

		Gravity Direction Method
		Accelerometer-Based	Fusion-Based
Heading Method	${\omega }_v$-Based	N.C.	N.C.
	${\omega }_{sm}$-Based	N.C.	N.C.
	Modified ${\omega }_v$-Based	<15 [deg]	9 [deg]
	Magnetic-Based	≈6 [deg]	fluctuating