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February 15th, 2017, 05:34 AM   #1
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How to use Indirect Kalman Filter output

hello.
I would like to measure true degree from IMU sensor by using indirect kalman filter(IKF). I can calculate error of angle and error of the bias of gyro from indirect kalman filter as attached image. However, i can not remove the bias of gyro despite using error of bias calculated from IKF like a attached image. I would like to know how to use IKF's output. Please let me know if you have any solution.
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