# How is accelerometer and gyroscope noise calculated from datasheet of MPU9250 in the below example?

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Rakhi Agarwal 2019년 9월 6일
댓글: saikat mondal 2023년 11월 17일
So I found this very useful link to implement MPU9250 with arduino:
However, I have doubts regarding how the accelerometer and gyroscope noise calculated from the datasheet (as mentioned in the link).
If anyone knows how these values are calculated, kindly explain.

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### 채택된 답변

Pujitha Narra 2019년 9월 9일
Hi Rakhi,
The accelerometer and gyroscope values given in the datasheet for MPU-9250 are rms values. The GyroscopeNoiseMPU9250 and AccelerometerNoiseMPU9250 are calculated as follows:
RMS Noise of Gyroscope= 0.1⁰/s-rms
Deviation of Noise= =3.0462e-06 rad/s= GyroscopeNoiseMPU9250
Similarly,
RMS noise of Accelerometer = 8 mg-rms
=8e-3*9.8 meter/-rms
= 0.0784 meter/-rms
Deviation of Noise = = 0.0061 meter/= AccelerometerNoiseMPU9250
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Daniel Schwartz 2020년 12월 2일
Wouldn't squaring the RMS noise give you the variance rather than the deviation?
saikat mondal 2023년 11월 17일
can you tell for magnetometer as well.

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### 추가 답변 (1개)

fatima zohra soussi 2020년 8월 12일
편집: fatima zohra soussi 2020년 8월 12일
can you give me this model please because i also want to simulate gyroscope/Accelerometer in simulink , the link is not work thank you
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Diarmaid Cualain 2020년 9월 16일
I assume that they are referencing here: https://uk.mathworks.com/help/supportpkg/arduinoio/ug/estimating-orientation-using-inertial-sensor-fusion-and-mpu9250.html

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