Table 2.

Comparison of compensation results of the four methods.

		MLR	KF	Modified LSM	Adaptive Algorithm
Bias drift error in static experiment without interference	Mean (°/s)	0.002134	−1.1496 × 10−4	−2.4515 × 10−4	2.1619 × 10−5
	Variance	5.5005 × 10−4	7.5105 × 10−5	1.1416 × 10−4	6.7660 × 10−5
Bias drift error in static experiment with interference	Mean (°/s)	0.002134	0.003023	−2.0156 × 10−4	1.7511 × 10−4
	Variance	5.5005 × 10−4	3.4361 × 10−4	1.8643 × 10−4	9.3155 × 10−5
Heading error in dynamic experiment	Mean (°)	1.4882	−1.9085	−11.5318	0.2743
	Variance	46.9166	9.8503	34.7090	0.9926