Swimming Attitude for Tracking Error Correction Based on Mahony Algorithm

Table 1

Error statistical characteristics.

Attitude angle combination method	Heading angle (angle minutes)	Angle of pitch (angle minutes)	Roll angle (angle minutes)
Attitude direct combination error	10.0147	9.7499	10.1713
Measurement matrix corrects combination error	2.0489	1.9936	1.9902
Vector preprocessing combination error was observed	1.1925	1.3543	1.3662