(a)
(b)
(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
).