Table 8.

Descriptions of the six thermal compensation tests.

Motions of the IMUs (Provided by the Turntable)
Dynamic test 1	IMUs kept rotating around their x-axis at 10 deg/s.
Dynamic test 2	IMUs kept rotating around their y-axis at 10 deg/s.
Dynamic test 3	IMUs kept rotating around their z-axis at 10 deg/s.
Static test 1	IMUs kept static with x-axis pointed upwards.
Static test 2	IMUs kept static with y-axis pointed upwards.
Static test 3	IMUs kept static with z-axis pointed upwards.
Chamber Temperature
Before each test, the temperature was stabilized at −10 °C;
During each test, the temperature was changed from −10 °C to 70 °C in one hour.