Indeed I was thinking to remove the offset, calculating how much the values in each axes directions differ from 1 if I apply a 360° rotation to z,x,y axes. By the way, I was thinking also that is not accurate in my case. The board with the sensor LSM6DS3 has to be mounted on the arm, think about then the movement of an arm during a walking gait. In other words, my global system is that one of the floor. Do you think that your technique (add or reduce the values to 1 for each ax) is sufficient?