Table 2.

Error specifications for the LN-200S IMU (per axis, 1$\mathbf{\sigma }$).

	Gyroscope	Accelerometer
Frequency	400 Hz	400 Hz
Noise	0.07 ${}^{\circ }/\sqrt{\mathrm{hr}}$	35 $\mathsf{\mu }\mathrm{g}/\sqrt{\mathrm{hr}}$
Bias	1 ${}^{\circ }/\mathrm{hr}$	300 $\mathsf{\mu }\mathrm{g}$
Scale factor	300 ppm	100 ppm
Misalignment	0.1 mrad	0.1 mrad
Nonorthogonality	0.1 mrad	0.1 mrad