I am developing a UAV helicopter. I have an IMU that measure X,Y,Z accelerations, X,Y,Z angles and X,Y,Z angular rates. From these, I want to derive the current X,Y,Z velocity and X,Y,Z relative position. It's been awhile since physics class. :) I know that there is going to be some integration, but I'm not sure the words to search for the answers. Where do I start?