Research Article
Evaluation of Matrix Square Root Operations for UKF within a UAV GPS/INS Sensor Fusion Application
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°/h1/2 | 0.85°/h1/2 | 2.0°/h1/2 | Accelerometer random walk | 0.5 m/s/h1/2 | 0.1 m/s/h1/2 | 0.2 m/s/h1/2 |
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