===== 9 Degrés de liberté =====
ensemble de:
  * 3 accéléromètres orthogonaux
  * 3 gyroscopes orthogonaux
  * 3 magnétomètres orthogonaux
avec un microcontroleur qui (, au minimum,) sérialise

[[https://gitlab.com/yarl/pi | en pratique]]

===== Doc en vrac =====
https://en.wikipedia.org/wiki/Sensor_fusion\\
https://en.wikipedia.org/wiki/GPS/INS\\
https://github.com/memsindustrygroup/Open-Source-Sensor-Fusion/\\
https://github.com/rodralez/NaveGo\\
http://mycoordinates.org/a-real-time-gpsins-integrated-system/\\
https://bitbucket.org/jbrandmeyer/libeknav/wiki/Home\\
...

=== Kalman ===
https://en.wikipedia.org/wiki/Kalman_filter \\
https://cran.r-project.org/web/packages/FKF/index.html