Linear velocity from FXOS8700CQ - Prop Shield

[vspear]

I'm looking for some pointers on using the IMU to obtain linear velocity and distance traversed in a flat plane using the prop shield and Madgwick or Mahoney fusion algorithms. I could integrate just the linear acceleration, but that would be very error prone over the 200 feet of distance I want to measure.

Any experts who know how this could be done reliably?

[vspear]

Found some good hints with the usual error factor caveats here, http://www.keyglove.net/2011/10/12/a...ead-reckoning/
Positioning technicals included: http://www.nxp.com/files/sensors/doc...ote/AN3397.pdf