I am working on project with using acclerometer MMA8451 and gyroscope. I need measure vertikal position of general movement with maximal velocity to 10m/s in path to 2m. I have problem with removal drift ( after integration) of accelerometer. It exist any other technique except use Kalman filters? I dont use ZUPT algorithm - detection zero velocity. The drift of gyroscope is possible remove in complementary filter (gyro + acc) only in slow motion. Can You help me? What should be process calculation? Very thanks!