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A gyroscope measures angular orientation and is calibrated relative to it's starting orientation. A true Gyro is a relatively rare and expensive piece of equipment, Most MEMs based "gyros" are actually rate gyros which have an output proportional to the rate of change of angular orientation.
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How to detect orientation with accelerometer when vehicle has variable acceleration?
Using a gyro on its own does not work well because of integration drift, and only using an accelerometer also does not work well because of vibrations and vehicle accelerations. …