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Accelerometers and Gyroscopes - Sensor Fusion #1 - Phil's Lab #33
( https://www.youtube.com/watch?v=RZd6XDx5VXo&t=0s )
- why sensor fusion
- overcome the limitation of the single sensor
- indirect measurement
- eg. altitude measurement
- aircraft altitude measurement
- roll, pitch, yaw
- 3d accelerometer
- 3d gyroscope
- https://www.maximintegrated.com/en/design/technical-documents/app-notes/5/5830.html#:~:text=Accelerometer%20Versus%20Gyroscope&text=Accelerometers%20measure%20linear%20acceleration%20(specified,and%20d2%20will%20not%20change.
- Euler measurement, spherical coordinates
- measure all acceleration along each body axis
- a = [ax , ay , az]
- m/s^2
- Accelerometer model
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in idle scenario 
- the angle can be found from the linear measurement of acceleration
