diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index 6a38fc50f93..dde30ee77c0 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -55,6 +55,17 @@
  * Private Types
  ****************************************************************************/
 
+struct sensor_axis_map_s
+{
+  int8_t src_x;
+  int8_t src_y;
+  int8_t src_z;
+
+  int8_t sign_x;
+  int8_t sign_y;
+  int8_t sign_z;
+};
+
 /* This structure describes sensor info */
 
 struct sensor_info_s
@@ -122,6 +133,18 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
  * Private Data
  ****************************************************************************/
 
+static const struct sensor_axis_map_s g_remap_tbl[] =
+{
+  { 0, 1, 2,  1,  1,  1 }, /* P0 */
+  { 1, 0, 2,  1, -1,  1 }, /* P1 */
+  { 0, 1, 2, -1, -1,  1 }, /* P2 */
+  { 1, 0, 2, -1,  1,  1 }, /* P3 */
+  { 0, 1, 2, -1,  1, -1 }, /* P4 */
+  { 1, 0, 2, -1, -1, -1 }, /* P5 */
+  { 0, 1, 2,  1, -1, -1 }, /* P6 */
+  { 1, 0, 2,  1,  1, -1 }, /* P7 */
+};
+
 static const struct sensor_info_s g_sensor_info[] =
 {
   {0,                                     NULL},
@@ -1010,6 +1033,36 @@ static void sensor_notify_event(FAR void *priv)
  * Public Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: sensor_remap_vector_raw16
+ *
+ * Description:
+ *   This function remap the sensor data according to the place position on
+ *   board. The value of place is determined base on g_remap_tbl.
+ *
+ * Input Parameters:
+ *   in    - A pointer to input data need remap.
+ *   out   - A pointer to output data.
+ *   place - The place position of sensor on board,
+ *           ex:SENSOR_BODY_COORDINATE_PX
+ *
+ ****************************************************************************/
+
+void sensor_remap_vector_raw16(FAR const int16_t *in, FAR int16_t *out,
+                               int place)
+{
+  FAR const struct sensor_axis_map_s *remap;
+  int16_t tmp[3];
+
+  DEBUGASSERT(place < (sizeof(g_remap_tbl) / sizeof(g_remap_tbl[0])));
+
+  remap = &g_remap_tbl[place];
+  tmp[0] = in[remap->src_x] * remap->sign_x;
+  tmp[1] = in[remap->src_y] * remap->sign_y;
+  tmp[2] = in[remap->src_z] * remap->sign_z;
+  memcpy(out, tmp, sizeof(tmp));
+}
+
 /****************************************************************************
  * Name: sensor_register
  *
diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index 52c5efd57a5..5272d1a9649 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -316,6 +316,125 @@
 #define SENSOR_REMOTE                               (1u << 31)
 #define SENSOR_PERSIST                              (1u << 30)
 
+/* Body coordinate system position P0:
+ *
+ *          +y
+ *          |
+ *          |
+ *          |
+ *          |
+ *          .------>+x
+ *         /
+ *        /
+ *       /
+ *      /
+ *     +z
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P0                   0
+
+/* Body coordinate system position P1:
+ *
+ *          .------>+y
+ *         /|
+ *        / |
+ *       /  |
+ *      /   |
+ *     +z  -x
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P1                   1
+
+/* Body coordinate system position P2:
+ *
+ * -x<------.
+ *         /|
+ *        / |
+ *       /  |
+ *      /   |
+ *     +z  -y
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P2                   2
+
+/* Body coordinate system position P3:
+ *
+ *          +x
+ *          |
+ *          |
+ *          |
+ *          |
+ * -y<------.
+ *         /
+ *        /
+ *       /
+ *      /
+ *     +z
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P3                   3
+
+/* Body coordinate system position P4:
+ *
+ *          +y  -z
+ *          |   /
+ *          |  /
+ *          | /
+ *          |/
+ * -x<------.
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P4                   4
+
+/* Body coordinate system position P5:
+ *
+ *          +y  -z
+ *          |   /
+ *          |  /
+ *          | /
+ *          |/
+ * -x<------.
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P5                   5
+
+/* Body coordinate system position P6:
+ *
+ *              -z
+ *              /
+ *             /
+ *            /
+ *           /
+ * -x<------.
+ *          |
+ *          |
+ *          |
+ *          |
+ *         -y
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P6                   6
+
+/* Body coordinate system position P7:
+ *
+ *         +x   -z
+ *          |   /
+ *          |  /
+ *          | /
+ *          |/
+ *          .------->y
+ *
+ */
+
+#define SENSOR_BODY_COORDINATE_P7                   7
+
 /****************************************************************************
  * Inline Functions
  ****************************************************************************/
@@ -1058,6 +1177,24 @@ extern "C"
 #define EXTERN extern
 #endif
 
+/****************************************************************************
+ * Name: sensor_remap_vector_raw16
+ *
+ * Description:
+ *   This function remap the sensor data according to the place position on
+ *   board. The value of place is determined base on g_remap_tbl.
+ *
+ * Input Parameters:
+ *   in    - A pointer to input data need remap.
+ *   out   - A pointer to output data.
+ *   place - The place position of sensor on board,
+ *           ex:SENSOR_BODY_COORDINATE_PX
+ *
+ ****************************************************************************/
+
+void sensor_remap_vector_raw16(FAR const int16_t *in, FAR int16_t *out,
+                               int place);
+
 /****************************************************************************
  * "Upper Half" Sensor Driver Interfaces
  ****************************************************************************/