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I've found the solution. Instead of using intrinsic matrix to angle conversions such as: $yaw = atan2(R_{n_{1}\leftarrow n_{2}}(2,1),R_{n_{1}\leftarrow n_{2}}(1,1))$ $pitch = asin(−R_{n_{1}\leftarrow n_{2}}(3,1))$ $roll = atan2(R_{n_{1}\leftarrow n_{2}}(3,2),R_{n_{1}\leftarrow n_{2}}(3,3))$ I should use extrinsic matrix to angle conversions such as: $yaw = ... 1 The IMU senses deviations from gravity within the inertial frame. Essentially, IMU measures the specific force$f_b$given in the base frame as: $$f_b = R^{bn}(a_{ii}^n-g^n),$$ where$g^n$is the gravity in the navigation frame (NED),$a_{ii}^n$is the inertial acceleration expressed in NED frame and, finally,$R^{bn}\$ is the rotation matrix from NED to ...

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