diff --git a/examples/simulation.rs b/examples/simulation.rs
index 7ef456b..8b9c864 100644
--- a/examples/simulation.rs
+++ b/examples/simulation.rs
@@ -18,7 +18,7 @@ use serde::de::DeserializeOwned;
 use serde::Deserialize;
 
 use marg_orientation::gyro_free::{MagneticReference, OwnedOrientationEstimator};
-use marg_orientation::{
+use marg_orientation::types::{
     AccelerometerNoise, AccelerometerReading, GyroscopeReading, MagnetometerNoise,
     MagnetometerReading,
 };
@@ -432,9 +432,12 @@ fn main() -> Result<(), Box<dyn Error>> {
         }
 
         // Obtain a rotation matrix from the estimated angles.
-        let north = estimator.rotate_vector_world(marg_orientation::Vector3::new(1.0, 0.0, 0.0));
-        let east = estimator.rotate_vector_world(marg_orientation::Vector3::new(0.0, 1.0, 0.0));
-        let down = estimator.rotate_vector_world(marg_orientation::Vector3::new(0.0, 0.0, 1.0));
+        let north =
+            estimator.rotate_vector_world(marg_orientation::types::Vector3::new(1.0, 0.0, 0.0));
+        let east =
+            estimator.rotate_vector_world(marg_orientation::types::Vector3::new(0.0, 1.0, 0.0));
+        let down =
+            estimator.rotate_vector_world(marg_orientation::types::Vector3::new(0.0, 0.0, 1.0));
         let filter_x = kiss3d_point(NorthEastDown::new(north.x, north.y, north.z));
         let filter_y = kiss3d_point(NorthEastDown::new(east.x, east.y, east.z));
         let filter_z = kiss3d_point(NorthEastDown::new(down.x, down.y, down.z));
diff --git a/src/gyro_free/filter.rs b/src/gyro_free/filter.rs
index a351504..4801eef 100644
--- a/src/gyro_free/filter.rs
+++ b/src/gyro_free/filter.rs
@@ -1,9 +1,10 @@
 use crate::gyro_free::types::*;
-use crate::vector3::Vector3;
-use crate::{
-    Abs, AccelerometerNoise, AccelerometerReading, ArcSin, ArcTan, EulerAngles, IsNaN,
-    MagnetometerNoise, MagnetometerReading, NormalizeAngle,
+use crate::prelude::*;
+use crate::types::{
+    AccelerometerNoise, AccelerometerReading, EulerAngles, MagnetometerNoise, MagnetometerReading,
+    Vector3,
 };
+use crate::IsNaN;
 use minikalman::buffers::types::*;
 use minikalman::extended::{ExtendedKalmanBuilder, ExtendedObservationBuilder};
 use minikalman::matrix::MatrixDataType;
diff --git a/src/lib.rs b/src/lib.rs
index 338277d..e7e69b1 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -6,30 +6,20 @@
 // Only enables the `doc_cfg` feature when the `docsrs` configuration attribute is defined.
 #![cfg_attr(docsrs, feature(doc_cfg))]
 
-mod accelerometer_noise;
-mod accelerometer_reading;
-mod euler_angles;
 pub mod gyro_drift;
 pub mod gyro_free;
-mod gyroscope_bias;
-mod gyroscope_noise;
-mod gyroscope_reading;
+
 mod macros;
-mod magnetometer_noise;
-mod magnetometer_reading;
+
 mod num_traits;
 #[deprecated(note = "This is a test implementation not suitable for real use")]
 pub mod test_estimator;
-mod vector3;
-
-pub use crate::accelerometer_noise::AccelerometerNoise;
-pub use crate::accelerometer_reading::AccelerometerReading;
-pub use crate::euler_angles::EulerAngles;
-pub use crate::gyroscope_bias::GyroscopeBias;
-pub use crate::gyroscope_noise::GyroscopeNoise;
-pub use crate::gyroscope_reading::GyroscopeReading;
-pub use crate::magnetometer_noise::MagnetometerNoise;
-pub use crate::magnetometer_reading::MagnetometerReading;
-pub use crate::vector3::Vector3;
 
+pub mod types;
 pub use crate::num_traits::*;
+
+/// Imports commonly used types and traits.
+pub mod prelude {
+    pub use crate::num_traits::*;
+    pub use crate::types::Vector3;
+}
diff --git a/src/test_estimator.rs b/src/test_estimator.rs
index 94154f5..cba7e37 100644
--- a/src/test_estimator.rs
+++ b/src/test_estimator.rs
@@ -1,8 +1,7 @@
-use crate::vector3::Vector3;
-use crate::{
-    AccelerometerNoise, AccelerometerReading, ArcSin, ArcTan, DetectGimbalLock, EulerAngles,
-    GyroscopeBias, GyroscopeNoise, GyroscopeReading, IsNaN, MagnetometerNoise, MagnetometerReading,
-    NormalizeAngle,
+use crate::prelude::*;
+use crate::types::{
+    AccelerometerNoise, AccelerometerReading, EulerAngles, GyroscopeBias, GyroscopeNoise,
+    GyroscopeReading, MagnetometerNoise, MagnetometerReading,
 };
 use core::ops::Neg;
 use minikalman::buffers::types::*;
diff --git a/src/types.rs b/src/types.rs
new file mode 100644
index 0000000..6b1dd46
--- /dev/null
+++ b/src/types.rs
@@ -0,0 +1,19 @@
+mod accelerometer_noise;
+mod accelerometer_reading;
+mod euler_angles;
+mod gyroscope_bias;
+mod gyroscope_noise;
+mod gyroscope_reading;
+mod magnetometer_noise;
+mod magnetometer_reading;
+mod vector3;
+
+pub use crate::types::accelerometer_noise::AccelerometerNoise;
+pub use crate::types::accelerometer_reading::AccelerometerReading;
+pub use crate::types::euler_angles::EulerAngles;
+pub use crate::types::gyroscope_bias::GyroscopeBias;
+pub use crate::types::gyroscope_noise::GyroscopeNoise;
+pub use crate::types::gyroscope_reading::GyroscopeReading;
+pub use crate::types::magnetometer_noise::MagnetometerNoise;
+pub use crate::types::magnetometer_reading::MagnetometerReading;
+pub use crate::types::vector3::Vector3;
diff --git a/src/accelerometer_noise.rs b/src/types/accelerometer_noise.rs
similarity index 100%
rename from src/accelerometer_noise.rs
rename to src/types/accelerometer_noise.rs
diff --git a/src/accelerometer_reading.rs b/src/types/accelerometer_reading.rs
similarity index 100%
rename from src/accelerometer_reading.rs
rename to src/types/accelerometer_reading.rs
diff --git a/src/euler_angles.rs b/src/types/euler_angles.rs
similarity index 100%
rename from src/euler_angles.rs
rename to src/types/euler_angles.rs
diff --git a/src/gyroscope_bias.rs b/src/types/gyroscope_bias.rs
similarity index 100%
rename from src/gyroscope_bias.rs
rename to src/types/gyroscope_bias.rs
diff --git a/src/gyroscope_noise.rs b/src/types/gyroscope_noise.rs
similarity index 100%
rename from src/gyroscope_noise.rs
rename to src/types/gyroscope_noise.rs
diff --git a/src/gyroscope_reading.rs b/src/types/gyroscope_reading.rs
similarity index 100%
rename from src/gyroscope_reading.rs
rename to src/types/gyroscope_reading.rs
diff --git a/src/magnetometer_noise.rs b/src/types/magnetometer_noise.rs
similarity index 100%
rename from src/magnetometer_noise.rs
rename to src/types/magnetometer_noise.rs
diff --git a/src/magnetometer_reading.rs b/src/types/magnetometer_reading.rs
similarity index 100%
rename from src/magnetometer_reading.rs
rename to src/types/magnetometer_reading.rs
diff --git a/src/vector3.rs b/src/types/vector3.rs
similarity index 98%
rename from src/vector3.rs
rename to src/types/vector3.rs
index 1194b67..36bb2bb 100644
--- a/src/vector3.rs
+++ b/src/types/vector3.rs
@@ -1,5 +1,4 @@
-use crate::accelerometer_reading::AccelerometerReading;
-use crate::magnetometer_reading::MagnetometerReading;
+use crate::types::{AccelerometerReading, MagnetometerReading};
 use core::borrow::Borrow;
 use core::fmt::{Debug, Formatter};
 use core::ops::{Add, Mul, Neg, Sub};