@type t() :: %Sidereon.GNSS.Fusion.ImuSpec{
  accel_bias_instab_mps2: number(),
  accel_bias_tau_s: number() | :infinity,
  accel_scale_instab_ppm: number() | nil,
  accel_vrw_mps_sqrt_s: number(),
  gyro_arw_rad_sqrt_s: number(),
  gyro_bias_instab_rps: number(),
  gyro_bias_tau_s: number() | :infinity,
  gyro_scale_instab_ppm: number() | nil
}