TABLE 1

Noise Parameters for the Two IMU Grades Considered in our Experiments (Groves, 2013, Chapter 4)

Bgyro(°/s)Tb,gyro(s)Ngyro(°/s0.5)Bacc(m/s2)Tb,acc(s)Nacc(m/s1.5)
Tactical-grade IMU0.00562000.00170.04901000.0010
MEMS IMU0.02781000.01670.0981400.0049