We are using a MEMS tri-axial sensor which has an Accelerometer,Magnetometer and Gyrometer. We have also calibrated the Accelerometer and Magnetometer.This sensor package is used in a borehole application. We have calculated the deviation of the borehole using the Accelerometer. Now we are stuck with the direction calculation free from rotation (i.e if the sensor rotates, the direction should not change).Is it possible to calculate a rotation free direction using the three inputs we have (Accelerometer, Magnet, Gyro)?
Please find the attached image of Mechanical orientation of sensor.