1. A computer-implemented method performed by one or more processors of a mobile device, comprising: receiving one or more sensor measurements from a sensor onboard the mobile device; determining if the device is stationary based on the one or more sensor measurements; at a first time, upon determining that the device is stationary, calculating one or more model parameters for a current temperature from the sensor measurements, wherein calculating the one or more model parameters includes calculating a measurement bias based on the one or more sensor measurements that are received when the mobile device is determined to be stationary at the first time; storing, in a calibration database, a calibration point, the calibration point comprising the measurement bias and the current temperature; and at a second time that occurs after the first time, estimating an attitude of the device using the measurement bias based on a temperature measured at the second time and the temperature of the calibration point.