To understand the error sources present in inertial sensors. both the white (time-invariant) and correlated noise sources must be properly characterized. To understand both sources. the standard approach (IEEE standards 647-2006. https://www.roneverhart.com/Corsa-Xtreme-Cat-Back-Exhaust-System-Black-Tips-Dodge-Challenger-5-7L-Hemi-2017-2023/