sensors - How to estimate yaw angle from tri-axis accelerometer and gyroscope - Robotics Stack Exchange
Gyro (Position) sensors (MPU6050) with Arduino - How to access Pitch, Roll and Yaw angles - YouTube
Measure acceleration, angular rate, and magnetic field, and calculate fusion values such as Euler angles and quaternion along the axes of MPU-9250 sensor - Simulink - MathWorks América Latina
Yaw pitch roll angles calculation using acceleration and gyroscope sensors signal fusion - YouTube