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

Table 2

Performance summary of both AR Yule-Walker and Burg models and FOS model over one hour of Gyro-Y measurements: first-order FOS: only linear model terms; second-order FOS: linear and cross-product model terms.

Modeling technique	Model MSE (deg/h)^2	Corresponding position error (m)	Computational time (s)
model order (maximum output lag L) 1
Yule-Walker	7 × 10^−6	978	0.40
Covariance/Burg	5 × 10^−6	826	0.23
CP degree = 1 FOS	1 × 10^−6	369	0.09
CP degree = 2 FOS	1 × 10^−6	369	0.35
Model order (maximum output lag L) 10
Yule-Walker	2 × 10^−6	523	0.44
Covariance/Burg	2 × 10^−7	165	0.28
CP degree = 1 FOS	4 × 10^−10	7	0.18
CP degree = 2 FOS	3 × 10^−11	2	0.6