TABLE 2
IMU model parameters
| Accelerometers (per-axis) | Gyroscopes (per-axis) | |||||
|---|---|---|---|---|---|---|
| Bias (m/s2) | Noise Root PSD | Bias (rad/s) | Noise Root PSD | |||
| Turn-On | In-Run |  | Turn-On | In-Run |  | |
| Tactical | 0.9 × 1e-2 | 0.1 × 1e-2 |  | 0.9 × 5e-5 | 0.1 × 5e-5 |  |
| Aviation | 0.9 × 1e-3 | 0.1 × 1e-3 |  | 0.9 × 5e-8 | 0.1 × 5e-8 |  |