How do sensors map to logged measurements?

Hello!

I am attempting to utilize the various outputs of sensor logger in a Kalman filter in order to obtain best guess positions and orientations for a phone. Several of the CSV files commonly retrieved (GPS, IMU, etc) have some overlapping properties.

For instance, GPS location contains information about the bearing, while the magnetometer is a raw vector pointed at true north and orientation, evidently, is a function of the magnetometer north on iOS devices.

My question is therefore:

Where would I find documentation on how raw sensor data is integrated to produce these measurements

so that I may avoid filtering over already-fused sensor data.

Are there any other similar outputs to the orientation that share sensors?

tszheichoi / awesome-sensor-logger

How do sensors map to logged measurements? #24

Where would I find documentation on how raw sensor data is integrated to produce these measurements