Application of Improved Fast Dynamic Allan Variance for the Characterization of MEMS Gyroscope on UAV

Table 1

Specification of the IMU.

Mass	58 g
Size	47 × 44 × 14 mm
Operating temperature	−40°C: 85°C
Sensor performance	Gyroscope	Accelerometer
Full scale	−450 ~ +450 (o/s)	−18 ~ +18 (g)
Bias stability	5.1 (o/h)	0.07 (mg)
Bandwidth	330 (Hz)	330 (Hz)
Scale factor error	35 ppm/°C	25 ppm/°C