Improving Multisensor Positioning of Land Vehicles with Integrated Visual Odometry for Next-Generation Self-Driving Cars

Table 1

Comparison of different IMUs.

Specification	SPAN-CPT	Crossbow	VTI
Update rate	100 Hz	100 Hz	20 Hz
Gyroscopes
Bias	20 deg/h	2 deg/s	1.5 deg/s
Scale factor	0.1%	1%	2%
Angle random walk	0.0667 deg/	2.22 deg/	0.86 deg/
Accelerometers
Bias	50 mg	30 mg	70 mg
Scale factor	0.4%	1%	1%
Range	10 g	2 g	6 g