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/s²)	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