Algorithm 3 Accelerometer sample selection

Require: Data ${\mathcal{D}}^N=\{y_{\omega }^N,y_a^N\}$, number of allowed measurements $N_{max}$, window size n, threshold $E_{\mathrm{th}}$. 1:if $N>N_{max}$ then 2:    Compute $s_a(k),\forall k$ according to (46) using window size n. 3:    Remove measurements where $s_a(k)>E_{\mathrm{th}}$ from a. 4:    $N\leftarrow |y_a|$. 5:    while $N>N_{max}$ do 6:        Compute the SVD $A=U\mathsf{\Sigma }W$, with A given by (27). 7:        Compute the coherence c according to (52). 8:        Remove the measurement with largest $s_a(k)$ where $c_k>0.5$ from a. 9:        $N\leftarrow |y_a|$.      ▹ A changes in subsequent iterations. 10:    end while 11:end if 12:return $y_a^{N_{max}}$.