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I read some information about rotation method such as euler angle and quaternion, commonly the imu device z axix is pointing up, and around this axis angle of rotation is yaw that is i need device direction data, but not i must put the device in the pocket, then z axis(like follow picture) will be pointing forward so how can i get the device absolute direction Relative to the north horizon angle when device is rotate? coordinate

Haseo
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  • I don't understand your problem. Without further info your image just shows 3 arrows and doesn't help at all. Your question is way too broad. Please read [ask] and improve it. What kind of IMU are you talking about? – Piglet Aug 21 '19 at 09:09

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For absolute movement and orientation measurement you will need at least a second sensor for an absolute reference(like magneto meter allows only slow movement) or start from an fixed orientation (Accuracy decay over time). This would require calibration and a lot of math to work.

What you need the Bosch BNO055. It has an I2C interface and integrates a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and a microcontroller to integrate the sensor data and give you absolute movement and orientation data. See here

Gerhard
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  • thanks your answer, so if when this sensor any rotate that can stable output horizon angle the north? – Haseo Aug 22 '19 at 03:59
  • @Haseo: Absolute Orientation (Euler Vector, 100Hz) - Three axis orientation data based on a 360° sphere AND Absolute Orientation (Quaterion, 100Hz) - Four point quaternion output for more accurate data manipulation – Gerhard Aug 22 '19 at 08:48