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Table 2 RMS of the inertial sensors

From: Inertial sensors for smartphones navigation

RMS X Y Z
Samsung S5
 Acceleration (g) 0.0046 0.0061 0.0002
 Gyro. (rad/s) 0.0017 0.0028 0.0009
iPhone 4
 Acceleration (g) 0.0028 0.0024 0.0042
 Gyro. (rad/s) 0.0048 0.0032 0.0043