Table 1: Equivalent sensor errors in navigation frame.

Yaw (°)04590135180

Accelerometer (ug)
 Eastern5000−500−707.1068−500
 Northern500707.10685000−500
 Upper500500500500500
Gyroscope (°/h)
 Eastern0.050−0.05−0.0707−0.05
 Northern0.050.07070.050−0.05
 Upper0.050.050.050.050.05