I am currently working on a project which seeks to utilize a tri-axial IMU to measure gravity anomalies caused by density variations in planetary crusts.
The instrument will be attached to a Helikite balloon at a maximum altitude of approximately 30 meters and towed by a rover. I understand the errors associated with IMU data, however, I am having some difficulty understanding how to implement the different corrections to the data.
Is a rotation matrix/quaternions required in order to shift the gravity vectors into the earth/navigational frame?
Also, any advice on filter techniques to help account for drift (e.g. Kalman filter) would be immensely helpful. My field of knowledge is earth/planetary science so I'm not too familiar with these kinds of techniques.