A Simple Kalman Filter

This is a simple Kalman filter based on c language, but it's easy to use in all programming languages such a micro controllers and cross platform programmings and ...

Refrence :

https://github.com/denyssene/SimpleKalmanFilter.git

How To use:

1- init your kalman with kalman function like: kalman(4,4,0.016);
2- use kalman_update(your_data_to_filter_in_float) to filter your data

kalman(e_mea,e_est,q) function parametres:

e_mea: Measurement Uncertainty - How much do we expect to our measurement vary

e_est: Estimation Uncertainty - Can be initilized with the same value as e_mea
       since the kalman filter will adjust its value.
       
q:     Process Variance - usually a small number between 0.001 and 1 - how fast your measurement moves. 
       Recommended 0.01. Should be tunned to your needs.

kalman_update(mea) function parametres:

mea: the data you want to filter

Sample program:

#include "kalman.h"

int main(){
  float kalman_out;
  float your_data_to_filter=0;
  kalman(4,4,0.016);
  while(true){
    
    your_data_to_filter=read_adc(0);  
    // this is an example function like reading analog value with microcontroller or other function you want ...
    
    kalman_out=kalman_update(your_data_to_filter);
    // now kalman filter result is in kalman_out variable, you can use it :).
  
  }
}

If any questions please ask :) arezaie14@gmail.com