Table 1: The expected value and standard deviation of error sources.

Error sourcesExpected valueStandard deviation

Zero bias errors of gyros0.01°/h0.006°/h
Random walk errors of gyros0.001°/ 0.0068°/
Accelerometer zero bias errors 3 μg0.5 μg
Accelerometer random walk errors3 μg/ 5 μg/
Scale factor errors of gyros10 ppm0