1. I am using ADIS16448A MEMS IMU. I would like to know how to fuse the magnetometer data with attitudes derived from angular rates / change in angles.
2. I have problem in deriving positions accurately from change in velocities with assumed initial conditions
To be honest, I do not know. I told you all that I knew about this in the last message. Our support is focused on understanding and optimizing the sensor behaviors. Sorry about that!