陀螺仪数据转换成角度_陀螺仪传感器漂移和正确的角度估计

I am using LG Optimus 2x smartphone(Gyroscope and Accelerometer sensor) for positioning.

I want to get correct rotation angles from gyroscope that can be used later on for body to earth coordinate transformation. My question is that

How I can measure and remove the drift in gyro sensor.

The one way is to take the average of gyro samples (when mobile is in static condition) for some time and subtracting from current sample, which is not good way.

When the mobile is in rotation/motion how to get the drift free angles?

解决方案

I am the author of a compass application that integrates data from magnetic and gyroscope sensors (steady compass). I have tested this application mostly on a LG Optimus black (the device that you can see on the video) running Android 2.2, so I am going to share my experiences:

Gyroscope readings are very accurate. This sensor