Fig. 5
From: GNSS gyroscopes: determination of angular velocity and acceleration with very high-rate GNSS
The angular velocity waveforms reconstructed by using the difference method. Also shown in this figure are the differences between the 50 Hz GNSS- and IMU-based angular velocities. Panel A—the 50 Hz GNSS-derived angular velocity waveforms; panel B—the 200 Hz IMU-derived angular velocity waveforms; panel C—the 50 Hz IMU-derived angular velocity waveforms aligned with GNSS; panel D—the differences between the 50 Hz GNSS- and IMU-derived angular velocities