Table 2.

The error angle corresponding to the estimation of rigid body attitude from multiple rigid body attitude measurements. Three methods are compared: the average of Cardan angles, the average and subsequent normalization of quaternions, and using the method of Markley et al. [13] for processing a set of quaternions

Method	Noise Standard Deviation
	0.035	2	10
Average of Cardan Angles	0.009	0.90	4.23
Average of Quaternions	0.009	0.51	2.76
Markley et al. Quaternion Method	0.009	0.51	2.74