euler_our = q2euler(xhat_work.x);
euler_google = q2euler(meas_work.orient);
figure()
for n = 1 : 3
    hold on
subplot(3,1,n)
plot(euler_our(n,:))
hold on
plot(euler_google(n,:))
legend('our','google')



%hold on
%plot(tplot,normpdf(tplot,mean_gyr(n),cov_gyr(n,n)));
end