Fix units in README + printouts

mintar · Nov 18, 2021 · ee29d7b · ee29d7b
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diff --git a/README.md b/README.md
@@ -41,22 +41,22 @@ ACCELEROMETER:
 X Velocity Random Walk:  0.00333 m/s/sqrt(s)  0.19983 m/s/sqrt(hr)
 Y Velocity Random Walk:  0.01079 m/s/sqrt(s)  0.64719 m/s/sqrt(hr)
 Z Velocity Random Walk:  0.00481 m/s/sqrt(s)  0.28846 m/s/sqrt(hr)
-X Bias Instability:  0.00055 m/s^2  1.99258 m/hr^2
-Y Bias Instability:  0.00153 m/s^2  5.51917 m/hr^2
-Z Bias Instability:  0.00052 m/s^2  1.86155 m/hr^2
-X Accel Random Walk:  0.00008 m/s^2
-Y Accel Random Walk:  0.00020 m/s^2
-Z Accel Random Walk:  0.00007 m/s^2
+X Bias Instability:  0.00055 m/s^2  1.99258 m/s/hr
+Y Bias Instability:  0.00153 m/s^2  5.51917 m/s/hr
+Z Bias Instability:  0.00052 m/s^2  1.86155 m/s/hr
+X Accel Random Walk:  0.00008 m/s^3/sqrt(s)
+Y Accel Random Walk:  0.00020 m/s^3/sqrt(s)
+Z Accel Random Walk:  0.00007 m/s^3/sqrt(s)
 GYROSCOPE:
 X Angle Random Walk:  0.00787 deg/sqrt(s)  0.47215 deg/sqrt(hr)
 Y Angle Random Walk:  0.00987 deg/sqrt(s)  0.59204 deg/sqrt(hr)
 Z Angle Random Walk:  0.00839 deg/sqrt(s)  0.50331 deg/sqrt(hr)
 X Bias Instability:  0.00049 deg/s  1.76568 deg/hr
-Y Bias Instability:  0.00136 deg/s	 4.88153 deg/hr
-Z Bias Instability:  0.00088 deg/s	 3.15431 deg/hr
-X Rate Random Walk:  0.00007 deg/s
-Y Rate Random Walk:  0.00028 deg/s
-Z Rate Random Walk:  0.00011 deg/s
+Y Bias Instability:  0.00136 deg/s  4.88153 deg/hr
+Z Bias Instability:  0.00088 deg/s  3.15431 deg/hr
+X Rate Random Walk:  0.00007 deg/s^2/sqrt(s)
+Y Rate Random Walk:  0.00028 deg/s^2/sqrt(s)
+Z Rate Random Walk:  0.00011 deg/s^2/sqrt(s)
 
 ```
 

diff --git a/scripts/analysis.py b/scripts/analysis.py
@@ -105,13 +105,13 @@ def get_intercept(x, y, m, b):
 print(f"Y Velocity Random Walk: {accel_wn_intercept_y: .5f} m/s/sqrt(s) {accel_wn_intercept_y*60: .5f} m/s/sqrt(hr)")
 print(f"Z Velocity Random Walk: {accel_wn_intercept_z: .5f} m/s/sqrt(s) {accel_wn_intercept_z*60: .5f} m/s/sqrt(hr)")
 
-print(f"X Bias Instability: {accel_min_x: .5f} m/s^2 {accel_min_x*60*60: .5f} m/hr^2")
-print(f"Y Bias Instability: {accel_min_y: .5f} m/s^2 {accel_min_y*60*60: .5f} m/hr^2")
-print(f"Z Bias Instability: {accel_min_z: .5f} m/s^2 {accel_min_z*60*60: .5f} m/hr^2")
+print(f"X Bias Instability: {accel_min_x: .5f} m/s^2 {accel_min_x*60*60: .5f} m/s/hr")
+print(f"Y Bias Instability: {accel_min_y: .5f} m/s^2 {accel_min_y*60*60: .5f} m/s/hr")
+print(f"Z Bias Instability: {accel_min_z: .5f} m/s^2 {accel_min_z*60*60: .5f} m/s/hr")
 
-print(f"X Accel Random Walk: {accel_rr_intercept_x: .5f} m/s^2")
-print(f"Y Accel Random Walk: {accel_rr_intercept_y: .5f} m/s^2")
-print(f"Z Accel Random Walk: {accel_rr_intercept_z: .5f} m/s^2")
+print(f"X Accel Random Walk: {accel_rr_intercept_x: .5f} m/s^3/sqrt(s)")
+print(f"Y Accel Random Walk: {accel_rr_intercept_y: .5f} m/s^3/sqrt(s)")
+print(f"Z Accel Random Walk: {accel_rr_intercept_z: .5f} m/s^3/sqrt(s)")
 
 average_vrw = (accel_wn_intercept_x + accel_wn_intercept_y + accel_wn_intercept_z) / 3
 average_abi = (accel_rr_intercept_x + accel_rr_intercept_y + accel_rr_intercept_z) / 3
@@ -186,12 +186,12 @@ def get_intercept(x, y, m, b):
 print(f"Z Angle Random Walk: {gyro_wn_intercept_z: .5f} deg/sqrt(s) {gyro_wn_intercept_z * 60: .5f} deg/sqrt(hr)")
 
 print(f"X Bias Instability: {gyro_min_x: .5f} deg/s {gyro_min_x*60*60: .5f} deg/hr")
-print(f"Y Bias Instability: {gyro_min_y: .5f} deg/s	{gyro_min_y*60*60: .5f} deg/hr")
-print(f"Z Bias Instability: {gyro_min_z: .5f} deg/s	{gyro_min_z*60*60: .5f} deg/hr")
+print(f"Y Bias Instability: {gyro_min_y: .5f} deg/s {gyro_min_y*60*60: .5f} deg/hr")
+print(f"Z Bias Instability: {gyro_min_z: .5f} deg/s {gyro_min_z*60*60: .5f} deg/hr")
 
-print(f"X Rate Random Walk: {gyro_rr_intercept_x: .5f} deg/s")
-print(f"Y Rate Random Walk: {gyro_rr_intercept_y: .5f} deg/s")
-print(f"Z Rate Random Walk: {gyro_rr_intercept_z: .5f} deg/s")
+print(f"X Rate Random Walk: {gyro_rr_intercept_x: .5f} deg/s^2/sqrt(s)")
+print(f"Y Rate Random Walk: {gyro_rr_intercept_y: .5f} deg/s^2/sqrt(s)")
+print(f"Z Rate Random Walk: {gyro_rr_intercept_z: .5f} deg/s^2/sqrt(s)")
 
 average_arw = (gyro_wn_intercept_x + gyro_wn_intercept_y + gyro_wn_intercept_z) / 3
 average_abi = (gyro_rr_intercept_x + gyro_rr_intercept_y + gyro_rr_intercept_z) / 3