# EKF for sensors measuring heading.

1. Jan 26, 2007

### Ultimâ

Ok the current situation I have is a magnetometer that measures heading, $$\psi$$, and a rate gyro measuring r (the euler equivalent of $$\dot{\psi}$$). To start with, I'm confused that one measures according to the aircrafts body framework and the other doesn't seem to....but anyway, the main question I'd like to ask is what would the f and h functions in
$$x_{k+1} = f(x_{k},k) + w_k$$
and
$$z_k = h(x_{k},k) + v_k$$
look like?

Any help really appreciated.