1. Gyroscope Bias Removal
Why needed
A gyroscope measures angular velocity. Even when perfectly still, it outputs a small non‑zero value (bias) due to manufacturing imperfections and temperature. When integrated over time to get orientation, this bias causes continuous drift – the cursor moves even when the phone is on a table.
Mathematical method
We record N samples (e.g., 500) while the phone is stationary. For each axis:
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