[ddalex]

When Nintendo Wii motes first appeared, they were some of the few devices at the time with cheap MESM accelerometers and gyroscopes that were programmer-friendly.

I remember taping two together back to back and integrating acceleration across them. That's when I learned Kalman filters. It was accurate enough so I could throw it across my desk and measure the desk length :)

[djmips]

Kalman filters were also used in the AGC - useful for landing on the moon. I suspect they were not used by the Minuteman - does anyone know?

https://en.wikipedia.org/wiki/Kalman_filter#History

https://github.com/chrislgarry/Apollo-11/blob/master/Luminar...