Determining the orientation of a body in space using the Kalman filter

Using measurements from inertial sensors such as gyroscopes and accelerometers and other, orientation of solids can be defined in space. To solve this task, one type of sensor is not enough, because there are certain dependencies between the individual measurements. Estimation of orientation must be used in navigation and autopilot systems in aircraft. It uses a unique combination of well known filters, transformation and advanced Kalman filter in order to determine the three Euler angles that define the orientation of the body in space.