High-Accuracy and Low-Cost Attitude Measurement Unit of the CubeSat

Table 3

RMSE and MAE of estimation error of gyro biases.

Attitude estimation layouts		Centralized layout I	Centralized layout II	Centralized layout III	Decentralized layout
Evaluation index
	RMSE (°/s)	0.00251	0.00237	0.00240	0.00321
	MAE (°/s)	0.00203	0.00189	0.00191	0.00249
	RMSE (°/s)	0.00247	0.00235	0.00242	0.00283
	MAE (°/s)	0.00197	0.00190	0.00193	0.00226
	RMSE (°/s)	0.00241	0.00231	0.00237	0.00284
	MAE (°/s)	0.00190	0.00186	0.00187	0.00234