Table 1.

Sensor specifications (https://mbientlab.com/tutorials/SensorFusion.html (accessed on 17 March 2022)).

Sensor	Range	Resolution	Sample Rate
Accelerometer	$\pm 16$ $\mathrm{g}$	16 bit	100 Hz
Gyroscope	$\pm {2000}^{\circ }$/s	16 bit	100 Hz
Magnetometer	$\pm 1300$$\mathsf{\mu }\mathrm{T}$ (x,y-axis), ±2500 $\mathsf{\mu }\mathrm{T}$ (z-axis)	0.3 $\mathsf{\mu }\mathrm{T}$	25 Hz