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Android- Gyro Sensor drift and Correct angle Estimation

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saravians

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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 1- 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? regards navigator
 

Google for "angle estimation", "gyro drift correction", "direction cosine matrix" and "kalman filter" - you cannot cancel drift with gyro itself. You need an accelerometer (and maybe magnetometer, which depends on application) as reference for gyro drift cancelling.
 

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