Acceleration signal and Kalman filter

Hello All

Posting here after long time!

I have acceleration data along with corresponding quaternions.

The goal is to remove the bias from the acceleration by using
quaternions.

I found an implementation where accelerations ax and ay are converted to
Euler angles (Phi and Theta) and quaternions are also converted to Euler
angles (Phi, Theta and Psi).

Then these Euler angles are passed to Unscented Kalman filter. This
approach works, but it cannot filter az.

How can I accomplish this.

Many thanks.

Best Regards

Chintan
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