Controling for external rotation

Hi all,

I have been posed an interesting AR problem that I'm trying to solve and that is using AR in a moving vehicle via a mobile device.

My research and experimentation so far tells me that it should be viable to do, however I have some high level questions regarding a few of the general principles behind what I'm trying to do.

I had initially thought that give that I was anchoring an object to the environment, that if the environment was also rotating, the base anchor would rotatate, thus there would be no observable rotation on the target object, however this does not appear to be the case. After some additional reading, I'm given to understand the rotation is determinted by using either the gyro or the accelerometer or some combination of the two after the object is initialised.

This means that if the vehicle turns after initialising the object, the phone will pick up that rotation and apply it as if you were moving the phone around.

My general idea to solve this would be to only apply the rotation if it's above a certain threshold per frame, and I guess the main question I have is, does Vuforia allow for access to the rotation before it's applied to the object in the scene, or do I need to apply a counter rotation to the object to keep it in place?