# Kalman filtration for rotation

I want to use Kalman filter for rotation. I have rotation matrix, but i can't use filtration for it, because all it's elements interdependent. That's why i try to convert matrix to euler angles and to filter each of compoments.

My questions:

is this filtering of euler angles will be right? (is all components x, y, z independent? I think no) If yes, how to avoid gimbal lock during filtration?

is there a better way to filter the rotation?