Table 2.

Measured sensor noise variances—driving a car at a speed of 10 km/h.

Gyroscope Noise Variance	Accelerometer Noise Variance	Magnetometer Noise Variance
$5.5259\times {10}^{-5}$	$8.1440\times {10}^{-5}$	$3.1317\times {10}^{-6}$