The sparkfun 6dof above connected via bluetooth, but now I have to write something interesting (and add it to my minigpsd logging).

Note I got the 75 deg/sec version for automotive, but you might want one that allows for faster rotation for hand use. This is about 12.5 rpm or one revolution every 5 seconds. The only time I go anywhere near this in my car is when I'm practicing driving on ice in the middle of a large parking lot.