. Author manuscript; available in PMC: 2021 Aug 5.

Published in final edited form as: IEEE Trans Ind Electron. 2019 Mar 4;67(2):1328–1336. doi: 10.1109/tie.2019.2901663

TABLE III.

Summary of RMSE of Estimated Tilting Angle

	SNR 85	SNR 22	SNR 5	SNR 1	Overall
EKF θ_RMSE	0.0050	0.0029	0.0026	0.0025	0.0034
HYB θ_RMSE	0.0047	0.0023	0.0019	0.0018	0.0029
θ_RMSE reduced	6.9%	21.4%	27.6%	30.3%	15.1%
EKF θ_RMSE,th	0.0055	0.0051	0.0050	0.0049	0.0051
HYB θ_RMSE,th	0.0041	0.0045	0.0049	0.0045	0.0045
θ_RME,th reduced	26.0%	11.6%	2.6%	8.1%	12.3%