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Sensor Fusion of Baro, GPS and IMU bricks/brickets


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I am trying to develop an aerobatic airplane 6DOF recording system using GPS, IMU and Baro data.  I have a basic idea of how Kalman filters work but am having trouble figuring out how to apply the technique to my particular application.  I know someone has developed an Baro/IMU sensor fusion algorithm to provide accurate altitude estimations.  Is it possible to get a description of how this was done.  Also, has anyone developed a Kalman filter to integrate altitude data with IMU and GPS information to provide accurate 3DOF position information.  Seems like this is something someone has already done and I'd appreciate any help someone would give.

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