Android- Gyro Sensor

I am using LG Optimus 2x smartphone which cons开发者_如何学JAVAists of gyro and accelrometer sensors. I am using it in indoor tracking application by using pedestrian dead reckoning techniques. I want to use gyro sensor to get correct orientation of mobile. I am integrating gyro data over time to get angles. But these angles are not well accurate. how I can get error free angles from Gyro sensor.

navig

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I am using the method described in this manuscript and it works like charm in my application. It gives very accurate orientations.

I am curious. What method do you use for tracking the pedestrian? How do you use orientation?

The best pedometer algorithm I have found so far is this. It seems to me you have something better. Could you share it?