Companion

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

Default external acceleration covariance matrix estimation method.

Default variance of the gyroscope output per Hz (or variance at 1 Hz). 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.