Robust Modeling of Low-Cost MEMS Sensor Errors in Mobile Devices Using Fast Orthogonal Search

Figure 7

Gyro-Y prediction MSE using Yule-Walker, covariance, Burg, and FOS methods. For CP order=1, only linear candidate terms up to a maximum output lag 𝐿=10 were allowed. For CP order=2, both linear and 𝑦(𝑛−𝑙₁)𝑦(𝑛−𝑙₂) candidates were allowed, up to a maximum output lag 𝐿=10.