Python iOS dead reckoning

def navigate():
    import _motion as motion
    from numpy import zeros, divide
    from math import cos
    from operator import add, sub
    from console import clear
    m = motion.MotionManager()
    m.stop()
    m.start()
    import time
    print "\nStarting motion update, please wait 20 seconds for the values to stabilize. During this time, please avoid touching the phone"
    """First we start updating, we allow a 5 second time out because there is a significant amount of drift initially present"""
    time.sleep(10)
    print "\nStarting calibration in 10 seconds. Please keep the device UTTERLY still in an position that you expect it to be most commonly in during the measurements later."
    time.sleep(6)
    print "\nCalibration starting in 5 seconds."
    time.sleep(5)
    print "\nCalibration starting..."
    caliacc = zeros(3)
    caliangle = zeros(3)
    cali=1
    for u in xrange(300):
        caliacc = caliacc + m.user_acceleration
        caliangle = caliangle + m.rotation_rate
    zeroingacc= divide(caliacc, 300)
    zeroingang=divide(caliangle, 300)
    print zeroingacc
    time.sleep(10)
    print "\nCalibration ended, you may start to move."
    zeroingacc0=zeroingacc[0]
    zeroingacc1=zeroingacc[1]
    zeroingacc2=zeroingacc[2]
    zeroingang0=zeroingang[0]
    zeroingang1=zeroingang[1]
    zeroingang2=zeroingang[2]
    speed0=0
    speed1=0
    speed2=0
    angle0=0
    angle1=0
    angle2=0
    movement0=0
    movement1=0
    movement2=0
    time1=0.083*9.83
    time2=0.083
    """Apparently for small lists, direct assignment is twice as fast as map and lists! Very unexpected!"""
    for j in xrange(500):
        speed0 += (-zeroingacc0 + m.user_acceleration[0]) * time1
        speed1 += (-zeroingacc1 + m.user_acceleration[1]) * time1
        speed2 += (-zeroingacc2 + m.user_acceleration[2]) * time1
        angle0 += (m.rotation_rate[0]-zeroingang0) * time2
        angle1 += (m.rotation_rate[1]-zeroingang1)* time2
        angle2 += (m.rotation_rate[2]-zeroingang2)* time2
        cos0=cos(angle0)
        cos1=cos(angle1)
        cos2=cos(angle2)
        movement0 = movement0+speed0*time2*cos0*cos2
        movement1 = movement1+speed1*time2*cos1*cos2
        movement2 = movement2+speed2*time2*cos0*cos1
        #speed = map(lambda x, y: time*add(x, y), speed, map(sub, list(m.user_acceleration), zeroingacc))
        #angle = map(add, angle, list(m.rotation_rate))
        #movement = map(lambda x,y: time*add(x,y), movement, map(lambda l, o: l*o, map(cos, angle), speed))
        print movement0, movement1, movement2
        clear()
navigate()