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p (rad/s) Truth 2 0 SR−UKF Solution −2 50 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 Time (s) 350 400 450 500 2 0 −2 Error 0.01 0 −0.01 q (rad/s) 2 Truth 0 −2 SR−UKF Solution −4 50 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 Time (s) 350 400 450 500 2 0 −2 −4 Error 0.05 0 −0.05 r (rad/s) Truth 0.5 0 SR−UKF Solution −0.5 50 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 Time (s) 350 400 450 500 0.5 0 −0.5 Error 0.01 0 −0.01 Figure 5.8: Truth data and the SR-UKF solutions for angular rates p, q, and r. See text and Table 5.5 for analysis. 74
