BMO055 Drift in Heading during continuous use

I have been using the BMO055 for the last few months as a heading sensor in our robot. There is
noticeable drift in the heading reading which seems to happen in a number of scenarios:

Sudden Jolt/impact - This could happen in the first 5 seconds after operation throwing the heading off
Duration - If the robot operates continuously the heading drifts over time
Terrain - Depending on the roughness of the terrain the heading will drift from 30 to 90 degrees over the course of 5+ minutes

These are some of the things I'm going to try

Store calibration values and intermittently overwrite the new values loaded by the fusion algorithm
Stop the robot moving at regular intervals to allow the sensors to recalibrate

What other steps can I take to mitigate against these problems?

Best reply by shiny

Apologies, columns 2, 3, 4 are the X, Y, Z orientation output, 5-13 are the calibration parameters.

There is indeed vibration, I am intentionally inducing it as its running on a test bed to replicate the robot.

I practice there will be vibration as its mounted on a robot driving in rough terrain. There will be vibration from the following sources:

Grips on the tyres interfacing with the ground
Roughness of the terrain
Sudden changes in direction
Physical contact with objects

Mechanical damping might be possible to an extent.

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