Which is better? 9 DOF Razor IMU or 6DOF ArduIMU+ V2 (Flat)

Hi all,

Does anyone have any experience using both of the following IMUs?
"ArduIMU+ V2 (Flat)" in http://www.sparkfun.com/commerce/product_info.php?products_id=9956
"9 Degrees of Freedom - Razor IMU - AHRS compatible" in http://www.sparkfun.com/commerce/product_info.php?products_id=9623

Does anyone know how much better (in terms of implementing an Inertial Navigation System, or just raw sensor accuracy)
is the 9DOF Razor IMU compared to the 6DOF ArduIMU+ V2 (Flat)
when the 6DOF ArduIMU+ V2 (Flat) is not equipped with GPS capabilities?

I am still not so sure which IMU should I get...
the GPS feature of ArduIMU+ V2 (Flat) is very seductive...
eventhough I am only doing indoor robotics (but with GPS, I could explore outdoor as well).

Any advice or experience would help a lot :)

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Only the ArduIMU+ is supported by the full ArduPilot.
Thanks Chris for the info :)
But I was wondering which IMU's accelerometer & gyroscope has better sensor accuracy.
I plan to use the IMU to implement an Inertial Navigation System (INS),
which will not rely on GPS. (I will correct the INS's position estimate using a camera)

If I do have GPS, I only plan to use the GPS to measure the INS's estimated position's error.
Any idea which IMU's accelerometer & gyroscope might do a better job in INS?
Thanks in advance :)
Vsming - the big deficiency with the Razor is that its firmware does not correct for centrepital acceleration, making it suitable only for low velocity applications. If you are indoors this may be OK. I dont' remember the specs on the gyros and accels, but you can look them up. I think they were pretty similar.

You can use a precise (+-2cm) Indoor "GPS": http://marvelmind.com/.

Here a couple of demos:

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