I am using the swift Piksi Navigation kit to get IMU data from the Bosch BMI160 sensor inside it. My final Aim is to calculate the displacement of the senor by integrating the acceleration values. The data that comes from this unit shows non-zero readings even when the sensor is still. (I understand that I have to divide the acceleration data from the sensor by sensitivity (16324 in this case) and multiply by 9.81 to get it in m/s2). (My sensor is experiencing gravity in the x-axis here). I also wrote a code for calculating the mean values and then subtracting it from real-time readings. Still, the data I am getting is not helping to calculate the correct distance, there is some error in it. I will attach the screenshot of the raw readings (when sensor is still) I am getting. I would be greatly helpful If I get to know how can I get precise readings from the sensor.
Let me know if you need anything else.