Hi NevadaMark,
Using the settings you've suggested, the data from my latest tests seem to corroborate the values you gave above for the angle random walk of the two sensors. This is despite the fact that I was unable to poll externally at the maximum internal rate of 256 SPS. The first plot below shows the Allan deviation for each sensor, where the value at an averaging time of 1 second is about 0.04326 deg/sqrt(s) (2.60 deg/sqrt(hr)) for the ADIS16251 and 0.03545 deg/sqrt(s) (2.127 deg/sqrt(hr)), which are already closer to the datasheet values. The second plot shows the fitted Allan variance, and, using the fitted model, I found that the 16251 had an Allan variance of 0.0423 deg/sqrt(s) (2.54 deg/sqrt(hr)) and 0.0333 deg/sqrt(s) (2.00 deg/sqrt(hr)). When I generated these plots, I didn't notice that this particular 16251 seemed to be performing better than the value you gave, but the other two 16251 sensors included in this study were found to have ARW of around 3 deg/sqrt(hr). I'm happy to see that these results confirm the datasheet specifications for these sensors.
Thanks again for your help!
