Electrical and Electronic Engineering Department;
University of Mines and Technology(UMaT);
P.O.Box 237;
Tarkwa;
Ghana;
Electrical and Electronics Engineering Department;
Cape Coast Technical University(CCTU);
P.O.Box DL 50;
Cape Coast;
Ghana;
IMU state-space model; Role and pitch estimation; More; Attitude estimation; Adaptive Kalman filter; Covariance scaling;