When you want to sense orientation using inertial measurements, you need an Inertial Measurement Unit, and when it comes to IMUs, the more DoFs, the better! The ICM20948 from Invensense packs 9 Degrees of freedom into a teeny package, making it a one-stop-shop for all the DOFs you need! Within its svelte 3x3mm package, there is not just one MEMS sensor die like your common sensors, but two sensor dies! The ICM20948 pairs Invensenses MEMS 3-axis accelerometer and gyro with the AK09916 3-axis magnetometer from Asahi Kasei Microdevices Corporation.