what is the units of angle random walk in (Inertial Sensor Noise Analysis)

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Ahmed El Ghrabawy 2020-1-8

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https://ww2.mathworks.cn/matlabcentral/answers/499406-what-is-the-units-of-angle-random-walk-in-inertial-sensor-noise-analysis

评论： Mazen Maged 2021-4-16

hello

i wants to know the units of angle random walk, Rate Random Walk, Bias Instability mentioned in

https://www.mathworks.com/help/nav/ug/inertial-sensor-noise-analysis-using-allan-variance.html#d117e743

thanks

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Answer 1

Diarmaid Cualain 2021-3-4

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编辑：Diarmaid Cualain 2021-3-4

Yea, it isnt clear in the documentation.

ARW is (rad/s)/√Hz.
RRW is (rad/s)(√Hz).
Bias instability is rad/s.

You can tell, because at the end of the guide they use the function https://uk.mathworks.com/help/fusion/ref/gyroparams.html where the units are listed.

ARW is also called N, white noise, noise density or power spectral density of sensor noise.
RRW is also called K, red noise, Brownian noise. It is the integrated white noise.
Bias instability is also called B, pink noise, flicker, or instability of the bias offset

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Mazen Maged 2021-4-16

Hi Diarmaid,

Could you explain what are the units of Allan Variance and Allan Deviation used in the example? I think they should depend on the units of omega (rad/s)?

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