IMU Implementation onto Simulink

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N/A 2019-1-31
I am trying to implement an IMU sensor with an accelerometer, gyroscope, and magnetometer on Simulink. I am creating this model with generated data not real data from an IMU for the purpose of algorithm verification.
I am trying to take the nine inputs (x,y,z of each sensor) and, apply an inverse rotation matrix to obtain the values in a different reference frame.
I am struggling to understand how I am to apply quaternions to obtain pitch, yaw, and roll in theory. How am I supposed to convert the nine inputs into quaternions?
Attached you will find a visual representation of my algorithm.
IMU ALGORITHM
Thanks

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