[ros-users] remove effect of acceleration due to gravity

Hi all,
I have an MTi IMU and would like to calculate position based on the
acceleration measurements on each axes. Currently I am not getting proper
position readings. I am guessing its because I am not compensating for
acceleration due to gravity.

Is there any way that I could cancel out the acceleration due to gravity.
Could I use roll, pitch yaw to remove it? Any pointers/links/examples are
welcome.

Regards
Aswin