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Statistical results of MTi-G output errors with and without compensation.
| Sensors | Compensated | Uncompensated | ||
|---|---|---|---|---|
|
|
|
|||
| RMS | Mean | RMS | Mean | |
| Gyro x (deg/h) | 220 | 15 | 284 | 23 |
| Gyro y (deg/h) | 289 | 124 | 264 | −37 |
| Gyro z (deg/h) | 418 | −279 | 2164 | −1974 |
| Accel. x (μg) | 2341 | −2147 | 3697 | −3287 |
| Accel. y (μg) | 2081 | −2023 | 1490 | 1256 |
| Accel. z (μg) | 1416 | 1219 | 1951 | 1852 |
