Hello everybody,

                       with half of the work done in my own Amateur UAV,i am going to start work on combining the data from accelerometer and gyroscope for having the exact inclination of aeromodel inertial frame of reference with respect to the earth inertial frame of reference.

i had got some mathematical manipulation regarding it but i had heard that KALMAN filter is more better option.

So can anyone please help me over how to use KALMAN filter and its code?

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See here for a nice description of the Kalman filter.

that was a document that just gone above my head,it was really difficult to understand for someone who is not in this field.so please hewlp mwe over the code.

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