A batch-IMU performance evaluation method based on median theory

When evaluating the performance of a batch of Inertial Measurement Unit (IMU) and encountering abnormal samples, the current method was uneasy to retain the stabilization of evaluating results. In the case, a method based on median theory is presented in the paper. Theory analysis and example results show that the median method overcomes the shortages of the current method effectively. Additionally, the accuracy and reliability of evaluating results can also be guaranteed by using the two methods synthetically.