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MPU6050 Evaluation (Rate Noise Density,RMS Noise)


#1

Hello and thank you for consigering my question :slight_smile:
I’ve made a datalog from a MPU6050 (IMU: gyroscope and accelerometer) at 500Hz sample rate. Now I want to calculate the characteristics from the gyro to evaluate the sensor.

For the gyro I’ve found following values in the datasheet:

Total RMS Noise = 0.05 °/s
Low-frequency RMS noise = 0.033 °/s
Rate Noise Spectral Density = 0.005 °/s/sqrt(Hz)

Now I want to ask how I can calculate these values from my dataset?
At the moment I’ve the following values from the dataset:

Standard deviation = 0.0331 °/s
Variance = 0.0011
Angular Random Walk (ARW) = 0.003 °/sqrt(s) (From Allan deviation plot)
Bias Instability = 0.0012 °/s

Is the ARW equal to the Rate Noise Spectral Density mentioned in the datasheet? And also is the RMS Noise from the datasheet equal to the standard deviation?


#2

You will probably need to contact the manufacturer to find out exactly how they defined those quantities.