XSENS MTi-G AHRS Roll Pitch Yaw accuracy

XSENS are commercially available Kalman filter based AHRS.  The performace of an AHRS depends on acceleration, deformation in the Earth Magnetic field and the location where the sensor is attached to the moving body.
 
When we start using the XSENs IMU it is important to caliberate it to take care of the matelic materials of other payloads attached forexample the nuts and scres produce soft iron effects that bias the magnetometer.
 

Here are the Euler angle accuracy of XSENs MTI-G AHRS

  Mean Error (Deg)
  Roll Pitch Yaw

XSENS MTi-G AHRS

0.54(0.67std dev) 0.78(0.61 std dev) 3.09(1.48 std dev)