Yea, it isnt clear in the documentation.
- ARW is (rad/s)/√Hz.
- RRW is (rad/s)(√Hz).
- Bias instability is rad/s.
You can tell, because at the end of the guide they use the function https://uk.mathworks.com/help/fusion/ref/gyroparams.html where the units are listed.
- ARW is also called N, white noise, noise density or power spectral density of sensor noise.
- RRW is also called K, red noise, Brownian noise. It is the integrated white noise.
- Bias instability is also called B, pink noise, flicker, or instability of the bias offset