Table 1.

Sensor variance characterization.

Sensor [Units]	Without Noise	With Noise
Rate-gyro $[{\mathrm{rad}}^2/{\mathrm{s}}^2]$	1 × 10${}^{-16}$	3.6 × 10${}^{-3}$
Accelerometer $[{\mathrm{m}}^2/{\mathrm{s}}^4]$	1 × 10${}^{-16}$	2 × 10${}^{-4}$
Magnetometer $\left[{\mathrm{G}}^2\right]$	1 × 10${}^{-16}$	1 × 10${}^{-6}$