Sensor blending with offset adjustment

A method of operating two or more sensors simultaneously and combine the outputs of the two or more sensors 502 into a single sensor output. Each of the two or more sensors has an operational range. Further, the operational ranges of the two or more sensors only partially overlap. An offset between the outputs of the first and second sensors over a first range of outputs is estimated 504 and the output of the second sensor adjusted based on the estimated offset 506. The single sensor output is generated based on the output of the first sensor, the adjusted output of the second sensor and a blending function that blends the output of the first sensor and the adjusted output of the second sensor 508. The sensors may be first and second accelerometers, gyroscopes, magnetometers or temperature sensors and may form part of an IMU. The offset may include passing the sensor outputs through an alpha/beta filter.