Platform and State Estimation Design of a Small-Scale UAV Helicopter System

Table 2

Some parameters of MTi.

Specification	MTi
Acceleration range	±50 m/s^2
Angular rate range	±300 deg/s
Magnetometer range	±750 mGauss
Roll/pitch accuracy	<0.5 deg
Heading accuracy	<1.0 deg
Output rate	User settable, max 120 Hz
Size	58.7×57.9×23 mm
Weight	50 g