Using the module
The communication protocol is described in
Matlab scripts demonstrating the use of the module is found here
The idea of using the module for pedestrian tracking is again explained in the paper
John-Olof Nilsson, Amit K Gupta, and Peter Händel. Foot-mounted inertial navigation made easy ‚ In proc. IPIN 2014, Oct. 28–30, 2014.
Further, the usage is exemplified in numerous publications in the Publications section.