RMSE Values of Euler Angles Over All Trajectories and Phones in [°]
Han and the proposed OEA use the same inclination computation procedure. Thus, these algorithms have the same RMSE values for φ and θ.
| Madgwick | Magyq | Han | Proposed OEA | |
|---|---|---|---|---|
| RMSE φ | 7.0 | 31.4 | 1.7 | 1.7 |
| RMSE θ | 9.7 | 13.6 | 2.6 | 2.6 |
| RMSE ψ | 65.8 | 36.5 | 29.2 | 17.4 |