I am using a 3 axis gyroscope(Android Device) to record angular velocities using a Sensor data logger application, However when the device is placed stationary the gyroscope record the following values

X: 0.003

Y:0.00042

Z:0.0045

At an instantaneous time t,

If I resolve the vector components to find angular velocity using the below formula,

[![enter image description here][1]][1]

(Is this formula correct btw?)

The angular velocity of the device = sqrt(0.0000009+0.0000001764+0.00002025) =0.0046 rad/sec = 0.26 deg/sec 


(What is the reason that the device is calculating a rotational speed of 0.26 deg/sec even when the device is stationary?)

However earth's rotation rate is only 0.0041 deg/sec, what am I missing here is this a calculation mistake or is this due to the sensor noise

I am aware that cheap sensors used in android devices are susceptible to noise data, However what I wanted to know was,

1. Do gyroscopes in general Fiber Optic Gyroscope and MEMS gyroscopes record angular velocity of earth's rotation around it's own axis?

2. Do gyroscopes also record angular velocity of earth's revolution around the sun?

If Angular velocity of earth's rotation and earth's revolution around the sun is recorded by the gyroscope, what is the optimal method to remove it.

My end goal is to design a system which records the orientation of the device in 3d space for a time period of 24 hrs. I am using Integration for recorded angular velocities to find the angular displacement in each axis.


  [1]: https://i.sstatic.net/33Ett.png