| Roll form | Angular acceleration (rad∙s−2) | FIR filter reconstruction angular displacement (rad) | ||
| No measurement noise | Contain the measurement noise | No measurement noise | Contain the measurement noise | |
| Random waves excitation ship rolling | 0 | 0.0134 | 0.0012 | 0.0019 |
| Free rolling | 0 | 0.0133 | 0.0004 | 0.0015 |