Hi,
Thanks for your inquiry.
We don't recommend to use linear acceleration to obtain distance by double integration, because little noise in linear accelerations will accumulate to large distance error at distance = 0.5 * a * t^2. For example, if the linear acceleration 'a' has 1mg noise which is 1 * 0.001 * 9.81m/s^2 = 0.00981m/s^2. At 100 seconds of time, the distance error = 0.5 * 0.00981 * 100^2 = 49m.
Additional filtering after BNO055 linear acceleration output will reduce the noise, but this will have delay for the motion. It is a trade-off.
In order to avoid distance increasing when the object is at rest, you may set a dead-zone for linear acceleration output of BNO055. For example, when abs(a) < 3mg, then a = 0.
BNO055 9DoF sensor fusion can output Euler angles (pitch/roll/heading) at 100Hz. You can use this data to do screen rotation.
Thanks.
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