Motorcycle attitude estimation from IMU noisy measurements

Rigid body attitude estimation is the problem of finding the relative orientation between two reference frames. In the case of a motorcycle, this task is performed by using Inertial Measurement Unit sensors, like accelerometers and gyroscopes. Information about these sensors involves angular velocities and body kinematics, which are related to body angles. IMU sensors have to be combined in order to improve the accuracy of the estimation, using Extended Kalman Filter