We would like to measure rotations per minute (RPM) of a spinning toy globe. I am a sensor newbie. How can RPM be measured with mems gyros or accelerometers or their fusion ? How do we determine which way axis of rotation is tilted (our globe is not regular globe that is mounted on a fixed stand - rather the stand can move and tilt in any direction) ?
Can RPM be determined by reading gyro values in x, y,z directions and finding resultant vector ? Would magnitude of resultant vector give RPM and direction ?
Thanks in advance for the help, and knowledge.