CALCULATORS / SENSORS AND INSTRUMENTATION

IMU bias-drift screening calculator

Constant gyro bias integration; no random-walk or sensor fusion.

sensors-imu-drift.napkin / editable

SCENARIO COMPARISON

Compare the numbers.

This source describes an analytical model. Its quantities and checks are the view.

Scenario	angleErrordeg
	6
	4.8

All calculated quantities are listed with the inputs. Switch to Source to inspect the equations.

SCENARIOS / CALCULATED VALUESSAME SOURCE

Change an input to see the consequences.

angle drift budget6.00 deg✓ passes

BASELINE INPUTS

bias0.1 deg/sduration60 s

CALCULATED

angleError6 deg

Edits change the baseline source.

THE SOURCE

Edits below update the same model.

# IMU bias-drift screening
# Scope: Constant gyro bias integration; no random-walk or sensor fusion.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

bias = 0.1 deg/s
duration = 60 s

angleError := bias*duration [deg]

check angle drift budget: abs(angleError) <= 10 deg

scenario alternative: bias = 0.08 deg/s

Calculated from your source · not saved

Baseline · Baseline

angle drift budget6.00 deg ✓ passes

alternative · alternative

angle drift budget4.80 deg ✓ passes

Illustrative first-order example. Checks are editable requirements, not design standards. The broader topic may require additional equations, data, and validation.

Formula and units

This example uses the following equations. Input names and units match the editable source above.

angle error: angleError = bias*duration [deg]

Original worked example

These are the baseline values in the downloadable source. Edits above let you test your own values.

Given

bias: 0.1 deg/s
duration: 60 s

Calculated

angle error: 6 deg

Assumptions and limits

Constant gyro bias integration; no random-walk or sensor fusion.

The requirement checks use the limits written in this example. Passing a check does not establish that the model covers every load, material behavior, or operating condition in a real design.

Download this .napkin example ↓

Take it further with your agent

Napkin keeps the inputs, equations, checks and assumptions together in one study. Your agent sets it up; you change the numbers.

Try with Claude ↗

codex 'Use Napkin (https://napkin.engineering/mcp, or the local Napkin plugin) to build a study: IMU bias-drift screening. Inputs: bias assumptions; integration time; motion model. Outputs: orientation, velocity and position drift estimates. Model scope: Measurement chains with explicit noise, bandwidth and calibration. Read napkin_capabilities and the current snapshot. Ask me for the values that matter, label assumptions with units, author .napkin source, validate it and apply it with napkin_source using the current revision, then open the study. Add checks for the limits I supply. Keep unsupported analyses explicit.'

Claude needs the Napkin connector; Codex needs the Napkin plugin. Set up your agent ↗

The broader study

The topic brief below describes the broader scope. The worked example above states the particular calculation it implements.

Inputs: bias assumptions, integration time, motion model
Outputs: orientation, velocity and position drift estimates
Modes: calculate, compare, sweep
Drawing: Signal-chain and error plots

EXECUTABLE WORKED EXAMPLE · FIRST-ORDER MODEL · CHECK THE SCOPE & ASSUMPTIONS