Table 1.

Specifications of the tested IMUs.

Sensor	Characteristic	IMU
		MP-POS830	MP-POS310	MP-POS1100
	Grade	Navigation	Tactical	MEMS
Gyro	Bias instability (deg/h)	0.005	0.5	<10
	White noise (ARW, deg/sqrt (h))	0.0022	0.05	0.15
	Scale Factor (ppm)	10	300	1000
Accel.	Bias instability (mg)	0.025	0.5	<1
	White noise (VRW, m/s/sqrt (h))	0.00075	0.1	0.06
	Scale Factor (ppm)	10	300	1000