Fig. 6
From: GNSS gyroscopes: determination of angular velocity and acceleration with very high-rate GNSS
The angular acceleration waveforms reconstructed by applying the difference method to the 50 Hz GNSS and the 200 Hz IMU attitudes. Also included in this figure are the differences of the 50 Hz GNSS- and IMU-computed angular accelerations. Panel A—the 50 Hz GNSS-derived angular acceleration waveforms; panel B—the 200 Hz IMU-derived angular acceleration waveforms; panel C—the 50 Hz IMU-derived angular acceleration waveforms aligned with GNSS; panel D—the differences between the 50 Hz GNSS- and 50 Hz IMU-derived angular accelerations