Table 4.
EKF results with real night sky imagery using a 1 s time displacement between each image, and so an angular speed of 36 arc-sec/s.
| Parameter | Measure | LLS | EKF State | EKF State Error |
|---|---|---|---|---|
| Roll | Residual [arc-sec] | 28.49 | 28.32 | 28.51 |
| Standard Deviation [arc-sec] | 8.34 | 8.43 | 8.34 | |
| Pitch | Residual [arc-sec] | 66.28 | 66.46 | 66.30 |
| Standard Deviation [arc-sec] | 6.26 | 6.33 | 6.27 | |
| Yaw | Residual [arc-sec] | 75.39 | 75.89 | 75.06 |
| Standard Deviation [arc-sec] | 27.87 | 26.18 | 27.74 | |
| Speed | Residual [arc-sec/s] | 10.17 | 0.70 | 1.50 |
| Standard Deviation [arc-sec/s] | 8.09 | 0.61 | 1.16 |