Table 3.

RMSE comparison with current literature.

Author	Estimation Parameter	Platform	Estimator	Computation Cost	Error Max (RMSE) (deg)
Qingyuan Zhu et al. [38]	Roll	Prototype Vehicle	GA	100 ms	1.8 (Roll)
	Pitch		BP NN		2.1 (Pitch)
Hamad Ahmed et al. [24]	Roll	Standard Vehicle	KF	20–25 ms	0.1 (Roll)
	Pitch				0.13 (Pitch)
	Yaw				0.01 (Yaw)
Javier Garcia Guzman et al. [39]	Roll	Standard Vehicle	KF	14.2 ms	0.76 (Roll)
	Pitch		UKF	6.76 ms	0.63 (Pitch)
Daehee Won et al. [40]	Roll	Standard Vehicle	EKF	21.4 ms	0.28 (Roll)
	Pitch				0.55 (Pitch)
RobertoG.Valenti et al. [41]	Roll	Standard Vehicle	Pseudo	1.42 μs	1.32 (Roll)
	Pitch		Madwick		1.19 (Pitch)
	Yaw		EKF
XudongWen et al. [42]	Roll	UAV	NCF	41 ms	1.16 (Roll)
	Pitch		DNCF		0.50 (Pitch)
	Yaw		-		-
Rodrigo Gonzalez et al. [43]	Roll	Standard Vehicle	KF	0.2 s	0.362 (Roll)
	Pitch				0.339 (Pitch)
	Yaw				1.839 (Yaw)
Proposed scheme	Roll	Standard Vehicle	CF	3.2 ms	0.6738 (Roll)
	Pitch				0.7280 (Pitch)