Table 1.

Root Mean Square Error (RMSE) in degrees for disturbance scenarios (i) and (ii). The lowest RMSE results are highlighted in bold.

	Abrupt Magnetic			Slow Magnetic 1			Slow Magnetic 2
Algorithm	$\tilde{\varphi }$	$\tilde{\theta }$	$\tilde{\psi }$	$\tilde{\varphi }$	$\tilde{\theta }$	$\tilde{\psi }$	$\tilde{\varphi }$	$\tilde{\theta }$	$\tilde{\psi }$
QRAUKF	0.05	0.04	0.07	0.07	0.09	1.84	0.40	0.19	3.11
QUKF	0.05	0.05	0.20	0.98	0.51	13.0	1.66	0.27	12.52
CF	0.07	0.06	0.14	9.22	11.00	28.90	3.20	0.86	8.97
3DM-GX1	0.16	0.18	0.09	0.12	0.09	11.28	0.35	0.27	9.8