How to Getting started with MEMS IMU sensors


I am looking for an information on how to get ROLL, PITCH and YAW using sensor. I have some knowledge on interfacing protocols such as SPI, I2C, UART and parallel communications.. I want to design a system which will give precision 3Dof(Roll, pitch and YAW) data. I am newbie to this concept.. I have gone thru searching on googling and got confused finally.. can anyone suggest me that what are the basics(i.e. theory and procedures or books ) I have to learn to make 3DOF devices. Suggest me a sensor from Analog devices to make 3DOF device.