MATLAB: How is accelerometer and gyroscope noise calculated from datasheet of MPU9250 in the below example

accelerometer noisegyroscope noiseimuimu noisempu9250

So I found this very useful link to implement MPU9250 with arduino:
https://www.mathworks.com/help/supportpkg/arduinoio/examples/estimate-orientation-inertial-sensor-fusion-and-mpu-9250.html
However, I have doubts regarding how the accelerometer and gyroscope noise calculated from the datasheet (as mentioned in the link).
If anyone knows how these values are calculated, kindly explain.

Best Answer

Hi Rakhi,
The accelerometer and gyroscope values given in the datasheet for MPU-9250 are rms values. The GyroscopeNoiseMPU9250 and AccelerometerNoiseMPU9250 are calculated as follows:
RMS Noise of Gyroscope= 0.1⁰/s-rms
=0.00174533 rad/s-rms
Deviation of Noise= =3.0462e-06 rad/s= GyroscopeNoiseMPU9250
Similarly,
RMS noise of Accelerometer = 8 mg-rms
=8e-3*9.8 meter/-rms
= 0.0784 meter/-rms
Deviation of Noise = = 0.0061 meter/= AccelerometerNoiseMPU9250
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