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How the sensor fusion works in this case?

Holy Hathaway

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I have one question. Most IMUs now a days have built in sensor fusion using kalman filters. For instance, Mbientlab-MetamotionR IMU. Now i would be getting angular rate from gyroscope. So how the sensor fusion works in this case (built in sensor fusion)? because if i want to get angle of rotation then i integrate the angular rate and get drift in the measurement.

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