What is the influence of free accelerations on the orientation measurement?

Large linear or centripetal accelerations, of some duration, will decrease the accuracy of the orientation calculation. The XKF3 algorithm as implemented in the MTi and MTx cannot distinguish free accelerations from gravitational accelerations, which serves as vertical reference.

By weighting the gyroscope data higher over the acceleration data during dynamic movements, short term accelerations will be "filtered" out to minimize this effect. In practice, an acceleration has to be maintained for several seconds to have an affect on the orientation output.

The MTi-G is the preferred device when free accelerations continue for longer durations such as occur in motorized ground and aerial vehicles.