BMI160 How to realize wall turning

Equipment name: underwater robot
Description of the problem: The product has 4 motors, all of which have PID regulation. We want to achieve advancing against the wall and 90 degree turns (turn left and turn right). The problem we are encountering now is that we cannot realize the action of turning 90 degrees. There are already many gyroscopes that can get this data. I wonder if BMI160 can achieve this function.
Main problem: Can't achieve 90 degree turns on the wall.