I am confused about the noise and drift before any filter is applied. I have 2 questions:
In the accelerometer, the noise is high frequency signals which is caused by the environment or maybe within the sensor itself. But in the gyroscope, before it is integrated, it should be low frequency noise? Is this the same as drift? Or is the noise causing the drift or vice-versa?
In the figure above, it shows that the angular velocity is a direct data output from the gyroscope without any computation done. So, this data should contain low frequency signals due to environmental impact but is there any drift present?