Fig. 1.
From: Use of the Comprehensive Inversion method for Swarm satellite data analysis
Comparison of attitude error covariances (in nT2) computed with different methods over 3217 instances of CHAMP rotations from inertial frame J2000 to the CHAMP CRF. Top panel shows covariance computed via Monte Carlo simulation of size N = 1000, second panel shows difference between Monte Carlo covariance and that computed from the HB theory, and last panel shows difference between Monte Carlo covariance and that computed from the CI method. Vertical axes are the six independent elements of the covariance matrices, specifically the first column followed by the last two elements of the second column followed by the lower-right corner element. The horizontal axis shows the 3217 instances of rotation sorted by cos δ.