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Table 7 Typical tactical- and consumer-grade inertial sensors

From: Indoor navigation: state of the art and future trends

Items Tactical-grade (NovAtel 2020), typically used in mobile mapping Consumer-grade (TDK-InvenSense 2020), typically used in consumer electronics
Initial gyro bias 0.75 (°)/h 18,000 (°)/h
Gyro bias over − 40 to + 85 °C Not given 108 000 (°)/h
Gyro scale factor error 0.03% 3%
Accelerometer bias 1 × 10–3 g
(g = 9.806 65 m/s2)
60 × 10–3 g
Accelerometer bias over − 40 to + 85 °C Not given 180 × 10–3 g
Accelerometer scale factor error 0.03% 3%
Cost $ 1,000 level $ 10 level