1)The accelerometer and gyroscopic sensors will (probably) be arranged in three orthogonal direction (XYZ) Actual manufacturing will undoubtedly have some misalignment and will need correction. During manufacturing and test, the misalignment shall be measures and a correction matrix will be generated.
The misalignment correction to the measured numbes (Vector Vm) will just be
Vgood = C * Vm
Wgood = Cgyro * Wm Agood = Cacc * Am
where C is a 3x3 matrixes , A is a vector of acceleration, and W is vector of rotations.
2) Other corrections TBD.