This project is an implementation of a simple Inertial Navigation system as described by Woodman in this article with rotation matrices. It only uses the integrated accelerometer and gyroscope of the Arduino Nano BLE 33. And no error correction is made. For this reason the model diverges within a few seconds and has no pratical use other than being a proof of concept.
The arduino library Arduino_LSM9DS1 https://github.com/arduino-libraries/Arduino\_LSM9DS1
Todo