I know similar questions have been asked before, but I have researched for hours now and have not been able to find a viable solution.
I have a Raspberry Pi 4 and the Adafruit LSM9DS1 IMU, which has a gyroscope, an accelerometer, and a magnetometer. I am trying to build a VR headset and find the 3D orientation of the IMU. What would be the best way (simplicity, lack of complicated math, and performance wise) to correct for gyroscopic drift using sensor fusion? I barely have any knowledge of quaternions, so a solution with Euler angles would be preferred.