I wrote a tutorial about this for an MPU 9250 (accel, gyro, mag) in Python. It seems your method is right, maybe you're forgetting the calibration step? See the methods here:

https://makersportal.com/blog/calibration-of-an-inertial-measurement-unit-imu-with-raspberry-pi-part-ii

We use a block calibration which allows for calibration of each axis. We also use the butterworth filter and get pretty decent results from the double integration over smooth movements.

Here's an example output from the integration:

I recently wrote a tutorial where I did the same thing with an MPU9250 - Butterworth filter and double integration. Did you calibrate the sensor? This makes a huge difference in the integration. You can read about the calibration (done in Python) here:

https://makersportal.com/blog/calibration-of-an-inertial-measurement-unit-imu-with-raspberry-pi-part-ii

We use a calibration block which allows for calibration of each axis, which really helps with the accelerometer offsets and multiplication factors. I've also attached an example filtered integration after calibration to this answer.

Preprint Gravitational Fields and Gravitational Waves

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Joshua Hrisko

Hello Mr. Joshua Hrisko

First of all I want to thank you for the experiment you did and the information so rewarding.

I am a civil engineering student and I want to use the IMU sensor to determine the displacement of a particle.

I am currently using a WitMotion Bluetooth BLE 5.0 9 Axis WT901BLE sensor.

For the calibration of the sensor, I use the software provided by the company Witmotion.

The recording is done by a frequency of 20 Hz. I try to have first simple displacements, like 30 or 50 cm on the Y axis.

Is there a possibility to calculate the displacement after the data recording with your code?

I am only looking for the calculation part, I think the calibration is well done with the software. This is also an opportunity to check it.

Thank you