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Default standard deviation for accelerometer noise expressed in m/s^2.

Default threshold to consider that device is in free fall. When device is in free fall, accelerometer measurements are considered unreliable and are ignored (only gyroscope predictions are made).

Default variance of the gyroscope output per Hz (or variance at 1Hz). This is equivalent to the gyroscope PSD (Power Spectral Density) that can be obtained during calibration or with noise estimators. This is a typical value that can be used for non-calibrated devices. This is expressed as (rad/s)^2 / Hz or rad^2/s.

Default standard deviation for magnetometer noise expressed in Teslas (T).

Average gravity at Earth's sea level expressed in m/s^2.