calibration and correction of a gyroscope

The subject matter disclosed hereins relates to a mobile station, comprising an accelerometer associated with a multi-sensor measurement processor unit, a gyroscope coupled to the multi-sensor measurement processing unit and a geomagnetic sensor positioned externally to the multi-sensor measurement processor unit and coupled to the multi-sensor measurement processor unit, wherein the multi-sensor processor unit is adapted to detect motion based at least on sensor data from the accelerometer and the geomagnetic sensor, compensate the geomagnetic sensor for tilt based at least on roll and pitch sensor data from the accelerometer and calibrate the gyroscope using measurement data from the geomagnetic sensor to measure change in angular information.