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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