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Measuring position and velocity using 6-axis Accelerometer / Gyro

Question asked by Mukul Chandwani on Sep 21, 2015

I came across a post on the freescale forum wherein a document on "implementing position algorithms using accelerometers" was shared. In that document, there was statement on the 3-axis accel, claiming that "additional processing would be required to null the earth's gravity effect". I was wondering if you had a document outlining the algorithm measuring position and velocity using a 3 axis accel, reducing the possibility of skewed data. Also, since gyros help in establishing an orientation, does it help in improving the accuracy of the algorithm output?