Fig. 12
From: GNSS gyroscopes: determination of angular velocity and acceleration with very high-rate GNSS
The regularized angular acceleration solutions obtained from the high-rate GNSS attitudes but with the IMU-based optimal regularization parameters and from the raw IMU attitudes but with the GNSS-based optimal regularization parameters, respectively. Left panel: the regularized GNSS angular acceleration waveforms with the optimal regularization parameters determined on the basis of the IMU attitudes; right panel: the regularized IMU angular acceleration waveforms with the optimal regularization parameters determined on the basis of the high-rate GNSS attitudes