638394.fig.009a
(a)
638394.fig.009b
(b)
638394.fig.009c
(c)
Figure 9: Comparative results for real and simulated IMU sensor error for 𝐗 𝐥 acceleration, in 𝑔 (Earth acceleration of gravity at sea level). (a) Window of the time series ( 𝑔 ). (b) Allan variance plot ( 𝑔 ). (c) FFT of time series ( 𝑔 2 ).