imuSensor and Allan Variance

Hello everyone,

I am creating an IMU simulation using the built-in imuSensor model in MATLAB. The block includes several parameters that define IMU noise characteristics, but I do not fully understand how these parameters relate to Allan variance–derived noise coefficients.

Here is the list of gyroscope parameters available in

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gyroparams with properties:

MeasurementRange: Inf rad/s

Resolution: 0 (rad/s)/LSB

ConstantBias: [0 0 0] rad/s

AxesMisalignment: [3⨯3 double] %

NoiseDensity: [0 0 0] (rad/s)/√Hz

BiasInstability: [0 0 0] rad/s

RandomWalk: [0 0 0] (rad/s)*√Hz

NoiseType: "double-sided"

BiasInstabilityCoefficients: [1⨯1 struct]

TemperatureBias: [0 0 0] (rad/s)/°C

TemperatureScaleFactor: [0 0 0] %/°C

AccelerationBias: [0 0 0] (rad/s)/(m/s²)

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I have estimated my sensor noise parameters from Allan variance analysis, specifically:

• ARW (N)
• Bias Instability (B)
• Rate Random Walk (K)

My goal is to correctly map these Allan variance parameters N, B, and K to the corresponding imuSensor block parameters:

• NoiseDensity
• BiasInstability
• RandomWalk

I would appreciate clarification on how these quantities correspond mathematically and physically, and how to correctly convert Allan variance results into the parameters expected by MATLAB’s IMU sensor model.