IMU
- Sensor Specifications for IMU
| Parameter | Accelerometer | Gyroscope | Magnetometer |
|---|---|---|---|
| Measurement Range | ±8g | 300°c/sec | ±2.5 Gauss |
| Non-Linearity | ±0.02%fs | ±0.02%fs | ±0.03%fs |
| Resolutions | <0.1mg | <0.003°/sec | - |
| Alignment Error | ±0.05° | ±0.05° | ±0.05° |
| Sampling Rate | 1KHZ | 4KHZ | 50KHZ |
| Bias Instability | ±0.04mg | 8° /hr | - |
| 100 u Gauss/√Hz | 25ug/√ Hz(2g) | 0.005°/sec/√Hz(300°/sec | ±2.5 Gauss |
| IMU Data Output Rate | |||
| IMU Filtering | |||
| Range | -500 meter to 10,000 meter | ||
| Resolutions | <0.1 meter | ||
| Sampling Rate | 25Hz | ||
| Noise Density | 0.01hPa RMS | ||
| Attitude accuracy | EKF outputs: ±0.25° RMS roll and pitch, ±0.8° RMS heading(typ) CF outputs: ±0.5° RMS roll and pitch, ±1.5° RMS heading (typ) | ||
| Attitude heading range | Attitude heading range | ||
| Attitude resolution | <0.01° | ||
| Attitude repeatability | 0.2° (typ) | ||
| Calculation update rate | 500Hz | ||
| Computed data output rate | EKF outputs: 1Hz to 500Hz CF outputs: 1 Hz to 500Hz |
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