IMU Variance measurements
This was measured on a tundra tracker
Measured with this
ACCELEROMETER: X Velocity Random Walk: 0.00104 m/s/sqrt(s) 0.06218 m/s/sqrt(hr) Y Velocity Random Walk: 0.00273 m/s/sqrt(s) 0.16354 m/s/sqrt(hr) Z Velocity Random Walk: 0.00270 m/s/sqrt(s) 0.16171 m/s/sqrt(hr) X Bias Instability: 0.00024 m/s^2 3118.26024 m/hr^2 Y Bias Instability: 0.00103 m/s^2 13330.91520 m/hr^2 Z Bias Instability: 0.00090 m/s^2 11650.21186 m/hr^2 X Accel Random Walk: 0.00009 m/s^2/sqrt(s) Y Accel Random Walk: 0.00015 m/s^2/sqrt(s) Z Accel Random Walk: 0.00016 m/s^2/sqrt(s) GYROSCOPE: X Angle Random Walk: 0.00793 deg/sqrt(s) 0.47574 deg/sqrt(hr) Y Angle Random Walk: 0.00653 deg/sqrt(s) 0.39208 deg/sqrt(hr) Z Angle Random Walk: 0.00789 deg/sqrt(s) 0.47313 deg/sqrt(hr) X Bias Instability: 0.00178 deg/s 6.41319 deg/hr Y Bias Instability: 0.00182 deg/s 6.55164 deg/hr Z Bias Instability: 0.00211 deg/s 7.59573 deg/hr X Rate Random Walk: 0.00029 deg/s/sqrt(s) Y Rate Random Walk: 0.00051 deg/s/sqrt(s) Z Rate Random Walk: 0.00039 deg/s/sqrt(s)