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

Table 6

The statistical properties of the experiment results.

	Mean (°)			Variance (°)
	Pitch error	Roll error	Heading error	Pitch error	Roll error	Heading error
UKF	0.0632	0.6453	1.4063	0.1158	0.1043	2.7352
SST-UKF	0.0325	0.2842	0.9745	0.0643	0.0538	1.7436