title: Sensor fusioning with Kalman filter
body: <p>I'm interested, how is the dual input in a sensor fusioning setup in a Kalman filter modeled?</p>
  
  <p>Say for instance that you have an accelerometer and a gyro and want to present the "horizon level", like in an airplane, a good demo of something like this here.</p>
  
  <p>How do you actually harvest the two sensors positive properties and minimize the negative?</p>
  
  <p>Is this modeled in the Observation Model matrix (usually symbolized by capital H)?</p>
  
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  <p>Remark: This question was also asked without any answers at <a href="https://math.stackexchange.com/questions/6863/sensor-fusioning-in-kalman-filter">math.stackexchange.com</a></p>