Suppose I have a cellphone with accelerometer and magnetometer, and want to determine its absolute (wrt North/East/South/West) 3d position. Imagine the phone is laid vertically, with the screen facing me, the "up" vector pointing to the ceil. Whenever I tilt, the accelerometer allows me to get the "up" vector info change. The problem is that if I tilt the device and put it horizontally (screen now facing ceil, and "up" vector pointing to the opposite of where I am), then the up vector doesn't get updated any more if I rotate the phone horizontally on the table. This is something that clearly is detected by the magnetometer now. So, the question is, when to know where to use acc or mag for each case? Is there a generic way to achieve this?