Table 1.

The Allan variance of five main random errors in MEMS gyroscopes.

Error Term	Allan Variance	Slope	Coefficient	Unit	Gyro 1	Gyro 1	Gyro 1
Quantization noise	${\sigma }_{QN}^2(\tau )=\frac{3Q^2}{{\tau }^2}$	−1	Q	deg	0.00821	0.00726	0.00707
Angular random walk	${\sigma }_{ARW}^2(\tau )=\frac{N^2}{\tau }$	−1/2	N	deg/h1/2	0.355	0.315	0.314
Zero bias instability	${\sigma }_{BI}^2(\tau )=\frac{B^2\cdot 2ln2}{\pi }$	0	B	deg/h	10.318	7.790	8.533
Angular rate random walk	${\sigma }_{RRW}^2(\tau )=\frac{P^2\tau }{3}$	1/2	P	deg/h3/2	52.323	120.310	61.357
Rate Ramp	${\sigma }_{RR}^2(\tau )=\frac{R^2{\tau }^2}{2}$	1	R	deg/h2	-	-	-