TABLE 4

Baseline Estimator Attitude Performance on Each Day of the TEX-CUP Data Set

Dataset	Roll (°)		Pitch (°)		Yaw (°)
Dataset	P₉₅	RMS	P₉₅	RMS	P₉₅	RMS
May 9
Consumer-grade IMU	0.99	0.59	0.99	0.60	0.99	0.26
Industrial-grade IMU	0.28	0.21	0.28	0.18	0.28	0.22
May 12
Consumer-grade IMU	0.84	0.43	0.84	0.41	0.84	0.27
Industrial-grade IMU	0.29	0.21	0.29	0.17	0.29	0.18

Note: The quoted 95th percentile and RMS error quantities are over the entire data set (i.e., for both float and fixed epochs).