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. 2020 Jan 16;20(2):512. doi: 10.3390/s20020512

Table 2.

Performance comparison of four methods.

Method	Errors(Degree)			Each Update Time ¹ (ms)	Convergence Time ¹ (ms)
Method	Pitch	Roll	Yaw	Each Update Time ¹ (ms)	Convergence Time ¹ (ms)
SGD	0.138	0.553	2.848	0.08	3.9
MBGD(mini-batch = 10)	0.032	0.155	2.352	0.13	5.8
MBGD(mini-batch = 60)	0.025	0.038	1.756	0.27	12.7
BGD	0.014	0.015	1.334	2.05	88.3

¹ “Time” means the code running time.