Quick explanation of how a Kalman filter works
I wish I had this summary quite a few years ago. I ended up buying aeronautical software textbooks and trying to glean the information from those to figure out how to integrate multiple IMU inputs.I learned that real world IMU use in navigation is pretty ugly and has to be supplemented due to constant errors. This can be particularly difficult when flying. In my case I used other sensors, such as a GPS.  But a strictly IMU-only approach to lengthy navigation is, AFAIK, impossible.Either way, good write up.