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The measurement in Z axis should be +9.81 if the Z axis points upwards, because an imu sensor does not measure the acceleration acting on it it measures the inertial force acts against the gravity. Example lets say your imu mounted on flat surface with x-forward y-left z-up the gravity acts downwards(-z axis) to resist that gravity there will be a inertial force acts equal and opposite to gravity in the upward direction (+zaxis). And thats why you get +9.81 in Z axis

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