Stochastic Modeling of MEMS Inertial Sensors Errata

Introduction

We rely on [1] for developing our stochastic model of any IMU sensor. There appear to be, however, several errors in this paper. We list these errors here along with solutions to them that have been incorporated into the IMU Sensor Model repository.

Errata

(1) Equation 6 in the paper is listed as:

We believe this is an error. The equation should actually be:

(2) In Equation 9, the definition of one of the variance terms is never stated. We define this term as:

References

[1] P. Petkov and T. Slavov. "Stochastic Modeling of MEMS Inertial Sensors." Cybernetics and Information Technologies. Vol. 10. No. 2. pp. 31-40. 2010.