Table 2.

Root Mean Square Error (RMSE) in degrees for disturbance scenarios (iii), (iv), and (v). The lowest RMSE results are highlighted in bold.

	Linear Acceleration			Individual Rotations			Simultaneous Rotations
Algorithm	$\tilde{\varphi }$	$\tilde{\theta }$	$\tilde{\psi }$	$\tilde{\varphi }$	$\tilde{\theta }$	$\tilde{\psi }$	$\tilde{\varphi }$	$\tilde{\theta }$	$\tilde{\psi }$
QRAUKF	0.28	0.87	0.16	1.08	1.31	0.91	2.88	1.94	1.37
QUKF	4.0	3.78	2.36	1.97	1.73	2.23	2.76	2.08	4.20
CF	1.87	1.60	0.53	1.17	1.61	1.17	2.97	2.54	2.03
3DM-GX1	0.37	0.99	0.39	1.08	1.34	1.37	2.88	2.17	2.06