Nice information about IMU and Kalman filter…

Found some good information on the links below:

What is an IMU
Accelerometer to pitch and roll
Gyroscope to roll, pitch and yaw
Kalman filtering of IMU data

A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications

Arduino code for simplified Kalman filter. Using a 5DOF IMU (accelerometer and gyroscope combo)

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