.. image:: https://raw.githubusercontent.com/sunsided/libfixkalman/static/kalman.png :align: right

Fixed point Kalman filter library

libfixkalman is a Kalman filter computation library for microcontrollers. It is based on the libfixmatrix_ and libfixmath_ libraries, which use 16.16 bit fixed point values. The main focus is processors without an FPU, such as ARM Cortex-M0 or M3.

A 🦀 Rust variant, albeit not a direct port, is available at sunsided/minikalman-rs_.

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Matrix inversion in the correction step is implemented using Cholesky decomposition and an optimized inversion algorithm ported from EJML_.

See function reference_ for further details and example_gravity.c_ for example code.

.. _libfixmath: http://code.google.com/p/libfixmath/ .. _libfixmatrix: https://github.com/PetteriAimonen/libfixmatrix .. _EJML: https://code.google.com/p/efficient-java-matrix-library/ .. _function reference: https://github.com/sunsided/libfixkalman/blob/master/FUNCTIONS.rst .. _example_gravity.c: https://github.com/sunsided/libfixkalman/blob/master/example_gravity.c .. sunsided/minikalman-rs: https://github.com/sunsided/minikalman-rs

conan.io

This library now has experimental support for the conan.io_ package manager and is aimed at CMake. Both libfixmath and libfixmatrix dependencies are available on conan.io and you should be able to verify the package building process by calling::

conan test_package --build

In general, to reference the library you'd provide a conanfile.txt with the following content::

[requires]
libfixkalman/20161008@sunside/stable

which corresponds to this package_, where 20161008 could be replaced with the latest version as found via conan search -v libfixkalman* -r=conan.io. You can then just::

conan install

or::

conan install --build

to obtain all required references.

.. _conan.io: https://conan.io/ .. _this package: https://conan.io/source/libfixkalman/20161008/sunside/stable