Table 3.

Assumption of the main parameters and simulation errors of the MIMU.

Sensors	Axis	Biases		Scale Factors
		Assumption	Simulation Errors	Assumption	Simulation Errors
Gyroscope (°/s)	X	0.0100	1.706 × 10−4	1.0001	0.796 × 10−4
	Y	0.0200	0.854 × 10−4	1.0002	0.190 × 10−4
	Z	0.0300	0.903 × 10−4	1.0003	0.984 × 10−4
Accelerometer (mg)	X	1.0000	1.419 × 10−4	1.0001	0.044 × 10−4
	Y	2.0000	0.218 × 10−4	1.0002	0.853 × 10−4
	Z	3.0000	2.922 × 10−4	1.0003	0.238 × 10−4
Inclinometer (mg)	X	−1.0000	0.357 × 10−4	0.9991	0.513 × 10−4
	Y	−2.0000	0.891 × 10−4	0.9992	0.943 × 10−4
	Z	−3.0000	1.921 × 10−4	0.9993	0.475 × 10−4