# IMU Matrix clarification

**URL:** <https://get-help.theconstruct.ai/t/imu-matrix-clarification/9445>\
**Category:** Kalman Filters\
**Created:** [April 14, 2021, 9:58pm UTC](https://get-help.theconstruct.ai/t/imu-matrix-clarification/9445 "2021-04-14T21:58:36Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![hskramer](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/hskramer/32/3225_2.png) [@hskramer](https://get-help.theconstruct.ai/u/hskramer)\
**Post date:** [April 14, 2021, 9:58pm UTC](https://get-help.theconstruct.ai/t/imu-matrix-clarification/9445/1 "2021-04-14T21:58:36Z")

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The text states: (taken from the page in section 4)  
As configured below, the filter will use angular velocity in 𝑧 and linear acceleration in 𝑥 from the IMU  
imu0\_config:  
[false, false, false,  
false, false, `true`,  
false, false, false,  
false, false, `true`,  
`true`, false, false]  
I highlighted the three `true` in the matrix but as stated above we only require angular velocity in z and acceleration in x. I read the configuration as: z angular position, z angular velocity and x acceleration. Is position needed if using velocity or is this configured incorrectly for the given requirements as stated above ? I’m doing the project and realized I need some clarification on this.

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**Author:** ![albertoezquerro](https://get-help.theconstruct.ai/user_avatar/get-help.theconstruct.ai/albertoezquerro/32/7031_2.png) [@albertoezquerro](https://get-help.theconstruct.ai/u/albertoezquerro)\
**Post date:** [April 15, 2021, 8:11am UTC](https://get-help.theconstruct.ai/t/imu-matrix-clarification/9445/2 "2021-04-15T08:11:21Z")

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Hello @hskramer ,

Actually yes, it is recommended to use orientation values when fusing IMU data. I will update the notebook to avoid confusions like this.