Table 12.

Accuracy of proposed method (reference to Soak method).

Sensor Errors	Xsens MTi-G	NV-IMU100
Gyro biases	360 deg/h	5 deg/h *
Gyro scale factor errors	1,500 ppm	2,200 ppm
Gyro non-orthogonalities	1,300 ppm	900 ppm
Accel. biases	1,200 μg	4,200 μg
Accel. scale factor errors	100 ppm	700 ppm
Accel. non-orthogonalities	400 ppm	600 ppm

^*The NV-IMU100 has three vibrating ring gyros with stable bias inherently, and the thermal drifts of its gyro biases had been partly compensated by factory calibration.