Hi Sir: You should reduce noise by software and/or hardware filter. Please see the datasheet of BMI160 2.4 Data processing to know how to set hardware filter. And you also can achieve this feature by your own algorithm. If you use long cable to connect the sensor and transmit and receive data, it is easy to be interfered and lead to the signal quality unstable. Long cable is connected between sensor and host is not recommended. Or if it is inevitable, you might try to add a resistance close to host between them to form impedance matching circuit and then observe the results. The impedance matching problematic is only based on experience to be suggested, I am not sure that it is useful for your project. Hopefully, it can help you.
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