TABLE 2

IMU model parameters

Accelerometers (per-axis)Gyroscopes (per-axis)
Bias (m/s2)Noise Root PSDBias (rad/s)Noise Root PSD
Turn-OnIn-RunEmbedded ImageTurn-OnIn-RunEmbedded Image
Tactical0.9 × 1e-20.1 × 1e-2Embedded Image0.9 × 5e-50.1 × 5e-5Embedded Image
Aviation0.9 × 1e-30.1 × 1e-3Embedded Image0.9 × 5e-80.1 × 5e-8Embedded Image