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Accelerometer m/s²
x –
y –
z –
Gyroscope °/s
x –
y –
z –
Attitude tilt · heading
Orientation °
α (yaw)
–
β (pitch)
–
γ (roll)
–
heading
–
Linear accel gravity removed, m/s²
x
–
y
–
z
–
Location & device
lat
–
lon
–
alt (m)
–
speed (m/s)
–
GPS acc (m)
–
rate
–