Table 2.

Optimization results of roll angle (north) error.

Algorithm		Zero-Bias Stability °/h	Angle Random Walk °/sqrt(h)	Ramp Rate °/h2
Original signal	MAX	0.059	19.147	4.957
	MIN	0.031	10.077	2.609
WCF		0.004	1.523	0.394
Improved		8.9 dB	8.2 dB	8.2 dB