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1) omega in (1) is "the true rate", but it is modeled as a random walk in (5). It is wrong since the model implies that the true rate is unpredictable. Usually, not the true rate but the rate error is modeled as a random walk. You can find these approaches in many literatures
2) The experimental results are very impressive. But it does not show that the KF is correctly implemented. To show that the designed KF is best, the results of other methods such as 1) averaging output of 6 gyroscopes, 2) different p(cross correlation factor)

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