The magic of the Kalman filter, in pictures
In a past life, when I was mixing GPS, accelerometer, gyros, and tachometer sensors, Aided Navigation by Jay A Farrel (http://www.amazon.com/Aided-Navigation-High-Rate-Sensors/dp/...) was super handy.Optimal State Estimation by Dan Simon helped, too:
http://www.amazon.com/Optimal-State-Estimation-Nonlinear-App...