Head-to-head comparison of three popular motion controllers. The response of each controller to various motion patterns reflects not only the limitations of its set of sensors, but also the choices I had to make whenever there was an ambiguity (e.g. tilt versus acceleration or yaw versus translation).
Try it yourself, learn about motion sensors and inertial forces, test your own tracking algorithms ! Requires Linux, gcc, a Bluetooth dongle, and at least one controller.