The R1370 is a device that combines the gyroscope capabilities of the R1070 and a three-axis accelerometer. The R1370 is a compact, yet very accurate sensing solution. It provides UART and SPI communication interfaces. The R1370 uses MEMS sensors resulting in low-cost and high reliability. The R1370 has a 50 Hz bandwidth and can measure rates up to ± 150 °/sec. The R1370 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 accelerometer can measure up to ± 2g and can be used to sense robot collisions, detect sudden motion changes or compute tilt when stationary. The R1370 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 R1370 is suitable for service robots that require accurate position estimation. It is currently been used by major cleaning robot manufacturers.