Table 2.

Statistics of the estimation results of gyroscope intrinsics.

	${\mathit{T}}_{{\mathit{\omega }}_{11}}$	${\mathit{T}}_{{\mathit{\omega }}_{12}}$	${\mathit{T}}_{{\mathit{\omega }}_{13}}$	${\mathit{T}}_{{\mathit{\omega }}_{21}}$	${\mathit{T}}_{{\mathit{\omega }}_{22}}$	${\mathit{t}}_{{\mathit{\omega }}_{23}}$	${\mathit{t}}_{{\mathit{\omega }}_{31}}$	${\mathit{t}}_{{\mathit{\omega }}_{32}}$	${\mathit{t}}_{{\mathit{\omega }}_{33}}$
Reference	0.9436	0.0015	0.0008	0.0004	1.0941	$-0.0027$	$-0.0018$	0.0083	1.0159
Mean	0.9416	0.0023	0.0009	$-0.0005$	1.0919	$-0.0012$	$-0.0015$	0.0064	1.0160
Standard deviations	0.0009	0.0009	0.0004	0.0006	0.0018	0.0022	0.0004	0.0030	0.0012
|Mean-reference|	0.0020	0.0008	0.0000	0.0009	0.0022	0.0015	0.0003	0.0019	0.0002