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Is the method sound covariance matrix and in this case the covariance matrix from the state estimate from the accelerometer and bias. After you rotate the IMU along the z-axis none of the axis will modify, because the gravitational force doesn’t modify in any with the axis. On the subject http://mariohbhsk.ka-blogs.com/3134744/the-5-second-trick-for-simulink-assignment-help


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