Gyroscope

Hi in a gyroscope we can see some specification such as Linearity, Scale Factor, Bias stability, Max update rate. Can anyone please explain about these datas in the way that i can understand. Actually i need to know these information for inertial navigation system to know the orientation of my robot.How do we relate these datas with a full scale range of a gyro? HOW CAN I COMPARE MY OUTPUT ORIENTATION WITH THESE PARAMETERS?

i m attaching a file with this for reference

An example of nonlinearity - same number of lines, start and stop in the same place, but they do not line up:
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[LATEX]| \:| \:| \:| \,\:| \,\:| \:| \,\:| \:| \:| \:| \:| \:| \: \:|
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Imagine the top row is the actual angle in 1° increments - the bottom row is like the gyro's actual non-linear output.

An example of scale factor:
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[LATEX]| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,| \,\,
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Here there is good linearity, but the scale is amplified.

Bias stability:
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[LATEX]. \; \; \; \; \; \; \; \; \uparrow \; \; \; \; \; \; \; \; \; \; \; \; \; .
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One hour later -
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[LATEX]. \; \; \; \; \; \; \; \; \; \; \; \; \; \; \uparrow \; \; \; \; \; \; \; .
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Bad bias stability.

Max update rate is how fast the gyro can possibly tell you the current angle.