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So I solved it by myself. Even though it's kind of a hack. The problem actually did not occur in the shown URDF above but in its parent URDF. I found, that only the joint after the last not fixed joint affects the wrong measurement. This means that after the last non fixed joint I got some fixed joints in between to place the IMU where I wanted it to be.
With adding a joint/link combination between the last non fixed joint and the first joint of my sensormount that had <origin rpy="0 0 0" xyz="0 0 0"/> the measurement were right then.
In the following question the same problem is described with the hector gazebo plugins but with another hack: https://answers.ros.org/question/44732/gps-hector-gazebo/
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