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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