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.
Matrix inversion in the correction step is implemented using Cholesky decomposition and an optimized inversion algorithm ported from EJML.
This library now has experimental support for the conan.io package manager and is aimed at CMake. Both
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:
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 --build
to obtain all required references.