title: Attitude calculation from mems gyroscope
body: <p>I'm using MEMS gyroscope to calculate orientation of device(Yaw, Pitch and roll). I got following pdf which specifies about how to process raw data available from chip and calculate orientation. This doc tells about using quaternion to do calculations. Can anyone tell me about how to process the equation 14(build quaternion and multiply it with angular rate) on page 37 in this document.</p>
  
  <p><a href="http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/TECHNICAL_ARTICLE/DM00034730.pdf" rel="nofollow">http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/TECHNICAL_ARTICLE/DM00034730.pdf</a></p>
  
  <p>Thank</p>