iOS 4.0 has two nice libraries: Core Motion Framework and Accelerate Framework. I am interested in developing an Inertial Navigation System on iPhone which will use the phone's accelerometer and gyroscope data and these two libraries seem quite useful.
In Core Motion Framework, an instance of CMDeviceMotion encapsulates measurements of the attitude (phone's orientation with respect to a frame of reference), rotation rate, and acceleration of a device. Core Motion can give user acceleration (free from the acceleration due to gravity). Moreover, CMRotationRate property contains a measurement of gyroscope data whose bias has been removed by Core Motion Algorithms. The identically named property of CMGyroData, on the other hand, gives raw data from the gyroscope.
Accelerate Framework has been provided to facilitate mathematical computations. It contains C APIs for vector and matrix math, digital signal processing, large number handling, and image processing.
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