title: Any Kalman Filter implementation in C for GPS + Accelerometer?
body: <p>I'm trying to rectify GPS readings using Kalman Filter. I already have an IMU with me which has an accelerometer, gyro, and magnetometer. </p>
  
  <p>I've tried looking up on Kalman Filters but it's all math and I can't understand anything. Any example codes would be great!</p>
  
  <p>EDIT: In my project, I'm trying to move from one LAT,LONG GPS co-ordinate to another. I'd like to get smooth GPS reading instead of the ones showing displacement even when there's no movement. I am thinking of using an accelerometer to check displacement and remove GPS reading outliers. However, from what I've read, a Kalman Filter is used for such an application. But every example of it I've found is in some high-level language. It would be great if there's something in C I can build on. Thanks!</p>