# 选型指南

	DETA10	DETA20	DETA30	DETA90	DETA100	EPSILON
Accel Range	±16 g	±16 g	±16 g	±16 g	±16 g	±16 g
Accel In-Run Bias (Allan Variance)	< 0.04 mg	< 10 μg	< 0.04 mg	< 10 μg	< 0.04 mg	< 10 μg
Accel Noise Density (VRW)	0.14 mg/√Hz	< 0.04 mg/√Hz	0.14 mg/√Hz	< 0.04 mg/√Hz	0.14 mg/√Hz	< 0.04 mg/√Hz
Gyro Range	±2,000°/s	±490°/s	±2,000°/s	±490°/s	±2,000°/s	±490°/s
Gyro In-Run Bias (Allan Variance)	5-7°/hr typ.	0.4-0.7°/hr typ.	5-7°/hr typ.	0.4-0.7°/hr typ.	5-7°/hr typ.	0.4-0.7°/hr typ.
Gyro Noise Density (ARW)	0.0035 °/s /√Hz	5 °/hr /√Hz	0.0035 °/s /√Hz	5 °/hr /√Hz	0.0035 °/s /√Hz	5 °/hr /√Hz
Heading (Magnetic)	2.0° RMS	2.0° RMS	2.0° RMS	2.0° RMS	2.0° RMS	2.0° RMS
Heading (Dynamic, INS)	-	-	0.2°, 1σ	0.05°-0.1°, 1σ	0.2°, 1σ	0.05°-0.1°, 1σ
Heading (GNSS Compass)	-	-	-	-	0.15° RMS	0.15° RMS
Pitch/Roll (Static, AHRS)	0.5° RMS	0.05° RMS	0.5° RMS	0.05° RMS	0.5° RMS	0.05° RMS
Pitch/Roll (Dynamic, INS)	-	-	0.03°, 1σ	0.015°, 1σ	0.03°, 1σ	0.015°, 1σ
Horizontal Position	-	-	1.0 m RMS	1.0 m RMS	1.0 m RMS	1.0 m RMS
Vertical Position	-	-	1.5 m RMS	1.5 m RMS	1.5 m RMS	1.5 m RMS
RTK Positioning	-	-	-	10 cm + 1 pmm CEP	-	10 cm + 1 pmm CEP
Heave	5 % or 5 cm	-	5 % or 5 cm	-	-	-