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Estimation errors of tested filters for all tested scenarios. Parameters of all filters were optimized for the best performance.
| MAE [Deg] | RMSE [Deg] | |||||
|---|---|---|---|---|---|---|
| Filter Type | Scenario 1 | Scenario 2 | Scenario 3 | Scenario 1 | Scenario 2 | Scenario 3 |
| Madgwick | 2.66 | 4.63 | 3.90 | 3.48 | 6.61 | 5.91 |
| Valenti | 2.84 | 5.91 | 4.51 | 3.82 | 7.08 | 6.39 |
| Suh | 5.29 | 10.68 | 11.54 | 6.53 | 15.01 | 15.51 |
| Guo | 2.57 | 4.35 | 3.94 | 3.49 | 6.41 | 5.82 |
| SCF (ours) | 1.97 | 4.06 | 3.37 | 3.01 | 6.24 | 5.57 |
| FSCF (ours) | 1.97 | 4.06 | 3.37 | 3,01 | 6.24 | 5.57 |
