title: Double integrating acceleration in C++ using a 9DOF IMU with sensor fusion
body: <p>I've spent a few hours doing research on numeric integration and velocity/position estimation but I couldn't really find an answer that would be either understandable by my brain or appropriate for my situation.</p>
  
  <p>I have an IMU (Inertial Measurement Unit) that has a gyro, an accelerometer and a magnetometer. All those sensors are in fusion, which means for example using the gyro I'm able to compensate for the gravity in the accelerometer readings and the magnetometer compensates the drift.
  In other words, I can get pure acceleration readings using such setup.</p>
  
  <p>Now, I'm trying to accurately estimate the position based on acceleration, which as you may know requires double integration, and there are various methods of doing that. But I don't know which would be the most appropriate here.
  Could somebody please share some information about this?
  Also, I'd appreciate it if you could explain it to me without using any complex math formulas/symbols, I'm not a mathematician and this was one of my problems when looking for information.</p>
  
  <p>Thanks</p>