diff --git a/schema/sensor/SensorDiffDrive.schema b/schema/sensor/SensorDiffDrive.schema
index 0b277ac262b6a958f7f26b6f8d275fd82a53014c..0e9c0453ef61818f4014e5ab0bae76be04d7f5c3 100644
--- a/schema/sensor/SensorDiffDrive.schema
+++ b/schema/sensor/SensorDiffDrive.schema
@@ -41,8 +41,11 @@ states:
       _type: Vector3d
       _mandatory: true
       _doc: A vector containing the intrinsic state values. 0=left wheel radius (m), 1=right wheel radius (m), 2=wheel separation (m)
-
-
-
-
-
+    noise_std:
+      _type: Vector3d
+      _mandatory: false
+      _doc: A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix.
+    drift_std:
+      _type: Vector3d
+      _mandatory: false
+      _doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
diff --git a/schema/sensor/SpecStateSensor.schema b/schema/sensor/SpecStateSensor.schema
index 870d1f5457b7c45f48643fecfcb3be7af902c2d7..7db0767f6b3df1166d76807da8388b485d6dd12b 100644
--- a/schema/sensor/SpecStateSensor.schema
+++ b/schema/sensor/SpecStateSensor.schema
@@ -6,5 +6,4 @@ dynamic:
 drift_std:
   _type: VectorXd
   _mandatory: false
-  _default: []
   _doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix.
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