# TKJElectronics/KalmanFilter

This is a Kalman filter used to calculate the angle, rate and bias from from the input of an accelerometer/magnetometer and a gyroscope.

Repository: https://github.com/TKJElectronics/KalmanFilter
Canonical: https://ross.abutalabs.com/products/kalmanfilter
Homepage: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it
Language: C++
License Family: other
Topics: kalman, filter
Last push: 2021-06-05T18:06:09+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 5133, "days_push": 1915, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1946, forks 742 (observed 2026-08-28T04:05:57.824232+00:00)

## What it is
A small C++ Kalman filter library for microcontrollers that fuses accelerometer/magnetometer and gyroscope input to estimate angle, rate, and bias. It works on any MCU with float math and can be dropped into Arduino as a library.

## Use cases
- fuse accelerometer and gyroscope data to estimate tilt angle
- smooth noisy IMU sensor readings on an Arduino
- stabilize a self-balancing robot
- estimate gyro drift bias from sensor data
- implement sensor fusion on a microcontroller with float math

## When to choose
- you need a lightweight, single-purpose angle estimator for an embedded project
- you are working with Arduino or another float-capable microcontroller
- you want a well-known, simple Kalman implementation for IMU fusion

## When to avoid
- you need a general-purpose or multi-state Kalman filter library
- you require an actively maintained project with a clear license
- you need full 9-DOF orientation estimation like a Madgwick or Mahony filter

## Facets
- artifact type: library
- maturity: maintenance
- function: math, simulation
- domain: embedded-systems, robotics
- platform: cpp, embedded, iot
- tags: kalman-filter, arduino, sensor-fusion, imu, gyroscope, accelerometer, angle-estimation, algorithms

## Member repositories
- TKJElectronics/KalmanFilter (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:57.824232+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:07:11.172157+00:00, confidence not recorded.
  - readme: https://github.com/TKJElectronics/KalmanFilter (fetched 2026-08-28T04:05:57.824232+00:00, sha fec1aa067ab7)
  - homepage: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it (fetched 2026-08-29T10:46:50.871713+00:00, sha 0b331f93c1bf)
  - site_page: http://blog.tkjelectronics.dk/about (fetched 2026-08-29T10:46:50.877463+00:00, sha b01df85a9328)
- Data as of 2026-08-30T08:39:29.467469+00:00.