(1)WTGAHRS2 module is good solution for angle measuring,acceleration measurement and angular velocity measurement and GPS navigation and Atmospheric pressure measurement,It packs a 3-axis gyro and a 3-axis accelerometer and 3-axis magnetic and Barometer.
(2) Kalman filter combines the gyro and accelerometer to get high precision angle measurement,it can be used such as four-axis flight control and self- balancing robot, angle measurement and depth measuring and so on.
(3)The module can get accurate attitude in a dynamic environment. Attitude measurement precision is 0.05degrees.
(4)Using high-precision gyro accelerometer MPU9250,read the measurement data by serial port and IIC port.With advanced digital filtering technology,reduce measurement noise and improve measurement accuracy,
Main Feature:
1 Input voltage: 3.3V-5V 
2 Consumption current:typical 20mA 
3 Volume:45mm X 62mm X 27mm
4 Measuring:Attitude angle: 3 axis Acceleration: 3 Axis Angular Velocity: 3 Axis Magnetic 1 axis Atmospheric pressure:height
5 Range:Acceleration: ± 16g, angular velocity: ± 2000 °/s. Range X (- 180,180) Y(-90,90) Z(-180,180),GPS UBLOX 6M,Atmospheric pressure,height preceision 0.1m 
6 The data output frequency can reach 200Hz 
7 Data Interface: Serial port UART(TTL level).
8 Baud rate (baud rate 2400-921600 kps. deault 9600kps).
9 Provide single-chip analytical sample code. 
10 With GPS connectivity. Acceptable in line with NMEA-0183 standard GPS data 
11 4 way expansion port for analog input and digital input and output 
Note:Angle of Z axis will be accurate because of adding magnetic field correction .Requiring the magnetic unaffected.