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

Table 3

The statistical properties of the simulation results.

	Mean (°)			Variance (°)
	Pitch error	Roll error	Heading error	Pitch error	Roll error	Heading error
UKF	0.0523	0.0725	1.8439	0.0842	0.0923	3.4327
SST-UKF	0.1126	0.1582	1.0632	0.0326	0.0461	2.4459