How to combine gyroscope and accelerometer for extra accuracy

Hi,
We are implementing an app using the gyroscope, like in the Gyroscope example provided.
The problem is the lack of accuracy of the gyrsocope.

Does anyone know any solution to compensate this inaccuracy, something like using a comibination of the accelerometer data with the gyroscope, or setting some margins to the gyroscope data?
I have made a few attemps but no good results so far.

Thanks!
Ernest [import]uid: 76413 topic_id: 22148 reply_id: 322148[/import]