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How to implement sensor fusion with IMU and GPS

I have a 9-axis IMU (MPU9250) and a GPS module and I'm considering using other sensors later,...
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How does ardupilot implement EKF?

How does ardupilot implement IMU EKF? Does it use quaternions or something else? Error state formulation or standard EKF? The documents I read didn't give the details of the implementation.
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