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Table 2 Average error angle (rad) in each segment of pendulum

From: Model-based extended quaternion Kalman filter to inertial orientation tracking of arbitrary kinematic chains

Segment

EQKF

MBEQKF

S1

0.227015997

0.084566179

S2

0.202370805

0.130596741

S3

0.300123365

0.156497101

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