Short summary:

[к] - [к’], [г] — [г’], [д] - [д’],  [б] — [б’], [з] - [з’]

угол (corner) - уголь (coal)

When you pronounce hard consonants ([к][г][д][б][з]) you hear the pre-sound "ы". When you pronounce soft ([к’][г’][д’][б’][з’]) consonants you hear the presound "и". 

Vowels а, о, у, ы, э go after hard consonants. Vowels и, е, ю,я go after soft consonants.

да-да - yes, дядя - uncle

Exercises: ка, га, да, ба, за

кя, гя, дя, бя, зя,

кэ,гэ,дэ,бэ,зэ

ке,ге,де,бе,зе

ко,го,до,бо,зо

ку, гу, ду,бу,зу

кю,гю,дю,бю,зю

кы,гы,ды,бы,зы

ки,ги,ди,би,зи

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