Table 2: The MAEs and STDs of attitude error and position errors by the classical PF, regularized PF and modified PF.

Filtering Methods

Attitude

Position

Pitch ()

Roll ()

Yaw ()

Longitude (m)

Latitude (m)

Altitude (m)

Classical PF

MAE

0.27

0.32

0.45

6.89

7.69

11.67

STD

0.36

0.41

0.59

8.62

9.19

13.41

Regularized PF

MAE

0.21

0.22

0.38

5.82

6.80

9.44

STD

0.28

0.29

0.54

7.42

8.34

10.96

Modified PF

MAE

0.15

0.18

0.30

3.20

4.06

6.21

STD

0.19

0.22

0.38

4.05

5.34

7.59