A robust nonlinear modeling technique based on Fast Orthogonal Search (FOS) is introduced to remove MEMSbased inertial sensor stochastic errors inside smart mobile phones that are used for several purposes including location based services and device usage classification. The proposed method is applied to MEMS-based gyroscopes and accelerometers. Results show that the proposed method models low-cost MEMS sensors errors with no need for de-noising techniques and, using smaller model order and

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... s computation, outperforms traditional methods by two orders of magnitude.