CF	Complementary Filter
GCS	Global Coordinate System
KF	Kalman Filter
LCS	Local Coordinate System
MIMU	Magneto-Inertial Measurement Unit
RCM	Rigid Constraint Method
rms	Root Mean Square
SFA	Sensor Fusion Algorithm
SP	Stereophotogrammetric System
STD	Standard Deviation
Absolute orientation	the orientation of the LCS of a system with respect to its GCS
Absolute orientation error	the difference between the orientation of the LCS of a MIMU computed by a SFA and its actual orientation computed by the optical reference (SP) and expressed by the angle given by the axis-angle convention
$e_{opt}$	minimum absolute orientation error which corresponds to the selection of the optimal parameter values
$e_{sub}$	absolute orientation error which corresponds to the selection of the suboptimal parameter values
Optimal parameter region	the range of parameter values for which the orientation errors are equal to $e_{opt}$ plus 0.5 deg
Relative orientation difference	the difference between the LCSs of two MIMUs both computed by a SFA and expressed by the angle given by the axis-angle convention
Suboptimal parameter region	the range of parameter values corresponding to the minimum of the relative orientation difference
Suboptimal parameter values	Parameter values corresponding to the centroid of the suboptimal parameter region