The R1070 is a fully self-contained MEMS digital gyroscope for measuring orientation (heading) angles. The R1070 is a compact, low-cost yet very accurate sensing solution. It provides UART and SPI communication interfaces. The R1070 uses MEMS sensors resulting in low-cost and high reliability. The R1070 has a 50 Hz bandwidth and can measure rates up to ± 150 °/sec. The R1070 minimizes the sensor error with the help of an adaptive reduced Kalman filter. The expected error contributed by drift is less than 10 °/h and the scale-factor is accurate within 0.5% of the scale factor. The R1070 start-up time is less than one second and it does not require further calibration thereafter. Because of its small size and low power consumption, the R1070 is suitable for service robots that require accurate position estimation. It is currently been used by major cleaning robot manufacturers.