title: 6DOF using accelerometer and gyroscope
body: <p>Has any one developed 6DOF pose estimation using only the iPhone sensors, not video? Drift from the accelerometer and gyroscope are understood.</p>
  
  <p>The gyroscope provides fairly reliable relative orientation rates. I've been able to develop with the gyroscope data.</p>
  
  <p>However, I'm having more problems deriving translation from the accelerometer. Double integration of the acceleration leads to useless position data very quickly (less than half a second).</p>
  
  <p>I have attempted to remove the bias with a calibration step, but the position is still poor. What's worse, is the bias isn't constant. It changes over time, and the noise drowse the signal.</p>
  
  <p>I'm interested if anyone has been able to develop a 6DOF with only the accelerometer and gyroscope that works reliably for 5-10 seconds with little drift in both translation and orientation. </p>