Fig. 5.

NRMS errors ${\{E_{\text{proj}}({\widehat{\mathbf{\Phi }}}_i)\}}_{i=1}^6$ over a range of ranks. Rotation of the Cartesian navigator causes noticablely larger error. The spiral navigator is robust to rotation, yielding similar error amounts regardless of rotation. The music note navigators are the most accurate and are also robust to rotation.