X,Y,Z Accelerometers | 2.5Ksps |

Roll, Pitch and Yaw rate gyros | 833sps(2.5ksps/3) |

Axis | Direction |

Positive Z | Up, Perpendicular to the tangent plane of Earth's Surface and the point of launch |

Positive X | East, but along a plane tangent to Earth's Surface |

Positive Y | North, but along a plane tangent to Earth's Surface |

Positive Z | Out of the nose cone |

Positive X/Y | Pick a side (doesn't matter at all) |

- [[INS.c]]: IMU Calculation C code - [[numerical.pdf]]: Numerical Methods