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

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

Answer 1

[Diarmaid Cualain]

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

[Mazen Maged]

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)?