> In 2006, we presented at DGON symposium in Stuttgart [2] the design and navigation results of MARINS, the first FOG-based navigation system within the class of 1 nautical mile per day. This navigation system in now in production...
> have we reached the limits of the technology or can we still improve the performance of our sensors?
> Of course, the present FOG design is not good enough for the required performance, even in a strictly controlled environment.
This is a discussion of how it could be improved not what is available in production and certainly not close to being available within a phone - which was the original point.
https://link.springer.com/article/10.1134/S207510871401009X