title: Gyro Sensor drift and Correct angle Estimation
body: <p>I am using LG Optimus 2x smartphone(Gyroscope and Accelerometer sensor)  for positioning. </p>
  
  <p>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 </p>
  
  <p>How I can measure and remove the drift in gyro sensor. </p>
  
  <p>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. </p>
  
  <p>When the mobile is in rotation/motion how to get the drift free angles?</p>