Thank you for your prompt response. For your reference, the hardware setup involves an STM32 microcontroller, which is connected to the BHI160B sensor. We are using the official library to interface with the sensor. The primary role of the microcontroller at this stage is to transfer the sensor's data to a computer, where I subsequently log and analyze the raw values. Regarding the testing procedure, an experiment was conducted in which the board, equipped with the sensor, was placed on a flat table in various orientations. Interestingly, the linear acceleration demonstrated a consistent bias error that varied depending on the orientation of the sensor. You can find a plot of the linear acceleration attached to this message. Thank you again for your assistance. I look forward to your guidance on resolving this issue.
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