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The authors of the paper you supplied give two reasons (as I see it) for not using gyroscopes. The first is that the gyroscopes are subject to a maximum angular velocity. The second is the power consumption. In regards to both, only you will be able to determine whether or not these two short comings will affect you. That being stated, those two issues will ...


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I think you can just convert the quaternions into a rotation matrix, and multiply the gyro vector by that. I have used this to adjust linear acceleration in the past, and I think it should work for rotation, but please let me know how it goes. The quaternion should be normalized first, meaning the sum of the squares should equal one. This is standard for ...


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