Table 1.

MPU-9250 accelerometer, gyroscope, and magnetometer main features [51].

Property	Accelerometer	Gyroscope	Magnetometer
Full-scale range	User-programmable: +− 2, 4, 8 or 16 g	User-programmable: 250, 500, 1000 or 2000 °/s	+− 4800 µT
Noise spectral density	300 µg/√Hz	0.01 °/s/√Hz	-
Sensitivity scale factor	User programmable: 16,384, 8192, 4096 or 2048 LBS/g	User-programmable: 131, 65.5, 32.8 or 16.4 LBS/(°/s))	0.6 µT/LSB
Sample rate	up to 4000 Hz	up to 8000 Hz	up to 8 Hz