Rate and Acceleration Bias State-Transition Models


the proposed EKF in the Aceinna Online Manuel uses in the state-transition section for the rate and acceleration bias following model to calculate the standard deviation of the drift rate of the gyroscope:

It is just said that this equation comes from an empirical study. Are there any paper/links available to this study where I can find this relation between BI and ARW respectively to the gyro drift rate?

Thanks in advance.

Kind Regards

Has noboy an idea? I just need a reference.

This is an experience from our algorithm engineer, currently no more updates.

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