need help with Kalman filtering

[tuldok89]

hello everyone
i've been trying to stablize the angular reading of an accelerometer by means of a gyroscope (sensor fusion) the best solution is probably the kalman filtering, i understand the theory behind it but i dont know how to realize it in C language
(let alone i am an assembler to start with)
i am using PIC16F877

so any help please

[an007]

this might be a good start: http://www.cs.unc.edu/~welch/kalman/
several months ago I see a kalman good cod for AVR 8 bits microcontroller written in C (so it's possible), but now I don't find the weblink...

rgds,
an

[TomJackson69]

tuldok89,

Goto this web site for an artical written by Dan Simon; includes example in MathLab and in C.
http://academic.csuohio.edu/simond/courses/eec644/kalman.pdf

Tom