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Is there a Kalman filter implementation I can use to fliter my gyroscope and acceleration data from an Android Phone?
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This is an open source java implementation of Kalman filter. Maybe you could try to use it in your android project.
Have a look at this project: http://library.rl-community.org/wiki/Helicopter_(Java)
They are using kalman filters for gyrosensors etc and it's java too ... you can download the source and probably use some of it pretty easy in android.
You should also check out rsbweb.nih.gov/ij/plugins/kalman.html and www.vni.com/products/imsl/jmsl/v30/api/com/imsl/stat/KalmanFilterEx1.html
Happy hacking