TABLE 1
Sources of Noise With Associated Allan Variance (AV) Slopes
| Error Mechanism | AV effect |  slope | Units (gyro.) | Units (accel.) | τread |
|---|---|---|---|---|---|
| Quantization |  | −2 | deg2 | m2s−2 |  |
| Random walk | βrwτ−1/2 | −1 | deg2 s−1 | m2 s−3 | 1 |
| Bias instability |  | 0 | deg2 s−2 | m2 s−4 | argmin  |
| Rate random walk |  | +1 | deg2 s−3 | m2 s−5 | 3 |
| Rate ramp |  | +2 | deg2 s−4 | m2 s−6 |  |