How can calc orientation from imu reading value - lin_acc and ang_vel？

Autonomous Vehicles DRIVE PX 2 DriveWorks
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Demo about imu sensor， reading value has orientation（w,x,y,z) ! - How can get orientation from lin_acc and ang_vel ? where I can find function to get orientation ?

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Hi @kanghua151. Sounds like this is specific to the DriveWorks SDK so I’ve moved this over to that forum.

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Hi kanghua151,

May I know which DRIVE platform you’re using?
Which version of DRIVE OS SW?