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@whitequark no, it's quite complex and painful to characterize, there's a lot of noise measurements to be made, but these are statistical and I am unable to wrap my head around an actual meaning. it's just frustrating.

All I know is that when you use a gyro for dead reckoning, you integrate the rate over time twice and if the measurement has any bias, the integrated result will drift quadratically. Moreover, this "zero rate bias" varies with temperature and also if you look at the box sideways.