Are there working open source implementations of the Kalman filter to correct accelerometer data?

Are there working open source i开发者_如何学Gomplementations of the Kalman filter in C or Objective-C to correct accelerometer data?

I couldn't find one, but before I start spending a month on this I'd better ask :-)

No, not that I know of. But don't you want Kalman filter to remove gyro drift? That's what it is good for.

Kalman filter is difficult to understand. If you do not understand it you won't be able to implement and use it correctly.

The good news is that you have other filters with comparable results, you may find this answer helpful. See especially the filter.pdf.

If you insist on the Kalman filter, the most human readable intro with examples I have found so far is the SIGGRAPH Course Pack.