Table 2.

Specifications of the sensors used in this study. Noise characteristics are given according to the manufacturers' specifications, except for the pitot tube, which we characterized ourselves in a low-turbulence wind tunnel.

sensor	sampling rate (Hz)	units	resolution	noise	noise characteristic
accelerometers	50	ms−2	2.4 × 10−3	3.9 × 10−3	spectral density (at 10 Hz)
rate gyros	50	°s−1	6.1 × 10−2	5.0 × 10−3	spectral density (at 10 Hz)
pitot tube	10	kPa	5.8 × 10−3	<7.9% RMS	full bandwidth (at 0.03 kPa)
anemometer	10	ms−1	1.0 × 10−3	<1.5% RMS	full bandwidth (at 12 ms−1)