Portable electronic device adapted to compensate for gyroscope bias

According to one aspect, there is provided a method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and a magnetometer. The method includes determining a first attitude matrix and a second attitude matrix using data from at least one of the accelerometer and the magnetometer, determining a difference between the first attitude matrix and the second attitude matrix, estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix, and compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity.