https://github.com/sunsided/libfixkalman

Kalman filter fixed-point implementation based on libfixmatrix, targeted at embedded systems without an FPU and/or need for performance.
https://github.com/sunsided/libfixkalman

c cpp embedded kalman-filter libfixmath libfixmatrix signal-processing

Last synced: 12 days ago
JSON representation

Kalman filter fixed-point implementation based on libfixmatrix, targeted at embedded systems without an FPU and/or need for performance.

• Host: GitHub
• URL: https://github.com/sunsided/libfixkalman
• Owner: sunsided
• License: mit
• Created: 2014-01-15T21:31:58.000Z (almost 11 years ago)
• Default Branch: master
• Last Pushed: 2024-06-03T22:16:55.000Z (5 months ago)
• Last Synced: 2024-10-11T02:29:56.898Z (28 days ago)
• Topics: c, cpp, embedded, kalman-filter, libfixmath, libfixmatrix, signal-processing
• Language: C
• Homepage:
• Size: 60.5 KB
• Stars: 66
• Watchers: 17
• Forks: 29
• Open Issues: 0
• Metadata Files:
  • Readme: README.rst
  • License: LICENSE

Awesome Lists containing this project

README

        
.. 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`_.

----

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