표 1. | Table 1. 임의 각 성능 비교표(θ_offset=221.252°) | Performance verification at different angles (θ_offset=221.252°).

INS (degree)			Encoder (degree)	compensation	Error
Heading	Roll	Pitch
−117.238	−0.134	29.986	−117.19	−0.06	0.012
−68.193	0.0458	30.065	−68.2	0.02	−0.013
0.045	0.111	29.996	0.0	0.034	0.011
30.841	0.115	29.96	30.8	0.026	0.015