TABLE 1
Noise Parameters for the Two IMU Grades Considered in our Experiments (
Groves, 2013
, Chapter 4)
B
gyro
(°/s)
T
b,gyro
(s)
N
gyro
(°/s
0.5
)
B
acc
(m/s
2
)
T
b,acc
(s)
N
acc
(m/s
1.5
)
Tactical-grade IMU
0.0056
200
0.0017
0.0490
100
0.0010
MEMS IMU
0.0278
100
0.0167
0.0981
40
0.0049