Rotation test is performed with an artificially added gyroscope bias in the measurement data.
Only DCM-IMU can accurately estimate gyroscope biases independent of the amount of added bias.
Biases with linear acceleration and no rotations (Section 4.3)
Acceleration test is performed with an artificially added gyroscope bias in the measurement data.
DCM-IMU can estimate gyroscope biases for and axes. The gyroscope bias around -axis is unobservable in this case, but the proposed filter can handle the observability issue.