# Euler angles estimation with vector matching and Kalman filter

### Description

Attitude Euler angles estimation by means of complementary Kalman filter.

### Usage

1 | ```
ahrs.LKF.EULER(Sensors, State, Parameters)
``` |

### Arguments

`Sensors` |
calibrated gyroscope, accelerometer and magnetometer measurements Sensors.w current calibrated gyroscope measurement [3x1], rad/sec Sensors.a current calibrated accelerometer measurement [3x1], g Sensors.m current calibrated magnetometer measurement [3x1], |m| = 1 |

`State` |
previous state State.q State.dB State.dG State.dw State.P |

`Parameters` |
AHRS Parameters Parameters.mn Magnetic Field Vector In Navigation Frame [3x1], |m|= 1 Parameters.an Acceleration vector In Navigation Frame [3x1], g Parameters.dt Sampling period, 1/Hz |

### Value

Attitude estimated attitude Euler angles [1x4] State estimated current state

### Author(s)

Jose Gama

### References

Vlad Maximov, 2012 Scalar Calibration of Vector accelerometers and magnetometers, GyroLib documentation