So we have a 5 axis IMU on one of our robots. Robot drives around on a flat field, so we only care about translation on the xy place and rotation about the yaw. Onboard the IMU consists of a 2 axis Accelerometer, and a 3 axis Gyroscope. So from my research I have come to understand that we can not accurately have a calculation of the yaw angle due to the fact that the Accelerometer sees nothing during yaw movement. However, if the Accelerometer is offset from the rotation axis and the gyroscope would it not be possible to calculate a more accurate yaw angle, since it actually sees a change.

So my questions are:

-Is this idea even plausible?

- Is it possible to do with just the 2 axis Accelerometer and 3 axis Gyroscope, or would you really need another separate Acceloremeter for the offset?

-If so does the math become that much more complicated that it is almost impossible to do, and is that why everyone just goes for a 9-axis imu?