you can back calculate orientations with high pass filterd gyro data, to rotate the unfiltered gyro date into the current reference frame, then low pass the unfiltered but rotation corrected gyro data to get the earth rotation axis in the current reference frame, then one can estimate the expected rotation that should be ignored.
you can back calculate orientations with high pass filterd gyro data, to rotate the unfiltered gyro date into the current reference frame, then low pass the unfiltered but rotation corrected gyro data to get the earth rotation axis in the current reference frame, then one can estimate the expected rotation that should be ignored.