A Scheme of MEMS-SINS Initial Alignment Aided by Laser Spot Perception System for the Boom-Type Roadheader

Table 2

The statistical properties of the simulation results.

		Normal model (°)	Heading error aided model (°)
Mean	Pitch error	0.0324	0.0162
	Roll error	0.0452	0.0228
	Heading error	1.0542	0.7243
Variance	Pitch error	0.0634	0.0326
	Roll error	0.0723	0.0533
	Heading error	2.1420	1.2713