TABLE 1.

Estimation error statistics for the navigational states. All error values are the median L2 norm between the estimated and true values, except for $\tilde{a}$, which is computed as $\tilde{a}=Log\left({\overline{R}}^{\mathrm{\top }}\widehat{R}\right)={[\delta a_x,\delta a_y,\delta a_z]}^{\mathrm{\top }}$ and $\tilde{\theta }=\left|\left|\tilde{a}\right|\right|$, where $\overline{R}$ and $\widehat{R}$ correspond to true and estimated orientations, respectively.

${\tilde{t}}_C^W$	4.1 cm
${\tilde{v}}_C^W$	5.3 mm/s
${\tilde{a}}_C^W$, $\tilde{\theta }$	${[-0.1,0.001,0.61]}^{\mathrm{\top }}$, 1.00 deg
${\tilde{\mathit{\omega }}}_C$	0.08 deg/s
${\tilde{a}}_T^W$, $\tilde{\theta }$	${[6.26,-4.24,0.85]}^{\mathrm{\top }}$, 7.25 deg
${\tilde{\mathit{\omega }}}_T$	0.6199 deg/s