Evaluation of Matrix Square Root Operations for UKF within a UAV GPS/INS Sensor Fusion Application : Table 2

Table 2: Inertial measurement unit (IMU) specifications.


Inertial measurement unit (IMU)	Crossbow VG400CA-200/VG400CC-200	Crossbow DMU(VG400)-100	Analog devices ADIS-16405

Resolution	16-bit	16-bit	14-bit
Rate gyroscope sensitivity	±200°/s	±100°/s	±150°/s
Accelerometer sensitivity	±10 g	±8 g	±18 g
Rate gyroscope random walk	1.7°/h^1/2	0.85°/h^1/2	2.0°/h^1/2
Accelerometer random walk	0.5 m/s/h^1/2	0.1 m/s/h^1/2	0.2 m/s/h^1/2