hello, I am stuck at understanding the units of noise specification of accelerometers and gyros. I am referring to the datasheet of 3DM-GX1 which has accelerometers and gyro sensors. the pdf is .. http://www.microstrain.com/pdf/3DM-GX1%20Detailed%20Specs%20-%20Rev%201%20-%20070723.pdf [Broken] My doubt is, the accelerometer white noise is specified as 0.4 mg/(root Hz) .. mg here is milli g (acceleration due to gravity).. so the units are meters per sec-square/(root hertz) .... how do i get standard deviation of the noise in meters/sec-square ?? Moreover, the similar entry for gyro output(Angular rate in the pdf) is given as Random Walk Noise = 3.5 degrees/(root hour) ... how do i get standard deviation of the white noise of gyro output ?? its units should be, ofcourse, degrees/sec or radians/sec Please, help me, I am not into stochastics and I am stuck at this point since two weeks!!! Thanks in advance..