Reply by Bruno April 19, 20052005-04-19
Hi Dani,

=> Matrix multiplication in ASM, is in the matlib.exe file. This code (is
more like a vector library, has several functions) is from TI. The matrix
multiplication assumes the matrices are stored in row wise. I used this
code.=> I'm sorry Dani, but I can't give you the EKF code, because the laboratory
where I work doesn't allow it! :(

=> in C, I measured the time with an oscilloscope :) . I change the state of
an output pin when I start the algorithm, and change it again when it ends.
The measurments aren't made in software!

Some Books on Kalman Filter

*Global Positioning Systems, Inertial Navigation and Integration (Wiley)

*Grewal, Andrews. Kalman filtering.. theory and practice using MATLAB (2ed.,
Wiley, 2001)
*Brown,R. and Hwang,P., Introduction to Random Signals and Applied Kalman
Filtering, Third Edition, John Wiley & Sons, 1997.

hope this helps

Best Regards