I have a inertial measurement unit (IMU) and a GPS. The IMU has a data output rate of 200 Hz for roll rate, pitch rate, yaw rate, acceleration x, y and z. The GPS has a data output rate of 1 Hz.
Is it possible to combine all the data with a kalman filter even when the GPS data rate is 1 Hz and the IMU data rate is 200Hz?
Can the kalman filter also estimate roll and pitch?
Any links to ready made kalman filters for this purpose?