Table 2.

Root mean square error (RMSE) comparison of orientation data (degrees).

Ref. Angle	Odometry	ToF	Beacons	Vision	Integration
0	NA	0.799	0.196	0.31	0.137
10	NA	0.391	0.501	0.772	0.333
20	NA	1.25	0.814	0.73	0.559
30	NA	2.071	1.011	0.025	0.217
40	NA	NA	0.971	0.854	0.023
45	NA	NA	2.772	0.145	0.583
60	NA	NA	0.076	0.061	0.003
−10	NA	0.162	0.731	0.4	0.098
−20	NA	0.387	1.763	1.662	0.607
−30	NA	0.884	1.669	1.98	0.239
−40	NA	1.731	0.527	0.082	0.468
−45	NA	0.427	0.102	0.373	0.031
−60	NA	NA	0.843	0.132	0.142
Nav. (30 to −20)	2.093	0.124	1.533	0.722	0.956
Flat Move	2.634	5.588	0.944	0.543	1.347
Transition	17.506	3.035	0.091	0.382	0.203