about stoastic process analysis using allan variance

[oiamk23]

Hi, thanks for your great work.
And i want to ask a question about error model. Because allan variance calculate stoastic error of imu, and for deterministic part, it could be calculated by the six position method. And i want to know, if we use this tool, raw imu data should be first minus deterministic part of error or can be directly fed without considering deterministic error of imu? @mintar
thanks for your reply