X,Y,Z with respect to world coordinate

Hi All,

I would like to use MPU-6050 in my application and I need to compute the X,Y and Z with respect to the world coordinate ( from the starting point of the sensor in motion).

a. How to compute the linear X,Y and Z with respect to world coordinate?
b. What will be the accuracy of X,Y and Z?
c. Is it better to use Quaternion? if yes how to do the transformation? Do we have any reference code for the linear X,Y,Z computation?
d. what rate we can compute the X,Y,Z using MPU-6050?
e. If the orientation of the chip changes (not always x,y & z coordinate of the chip is not parallel to the world coordinate) then how to compute the position of the sensor (x,y and z) with respect to world coordinate?

Please share your expertise on this.

Thanks & regards,
Krishna