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+Kalman filters and other optimal and non-optimal estimation filters in Python.
+------------------------------------------------------------------------------
+
+This library provides Kalman filtering and various related optimal and
+non-optimal filtering software written in Python. It contains Kalman
+filters, Extended Kalman filters, Unscented Kalman filters, Kalman
+smoothers, Least Squares filters, fading memory filters, g-h filters,
+discrete Bayes, and more.
+
+This is code I am developing in conjunction with my book Kalman Filters
+and Random Signals in Python, which you can read/download at
+http://rlabbe.github.io/Kalman-and-Bayesian-Filters-in-Python/
+
+My aim is largely pedalogical - I opt for clear code that matches the
+equations in the relevant texts on a 1-to-1 basis, even when that has a
+performance cost. There are places where this tradeoff is unclear - for
+example, I find it somewhat clearer to write a small set of equations
+using linear algebra, but numpy's overhead on small matrices makes it
+run slower than writing each equation out by hand, and books such as
+Zarchan present the written out form, not the linear algebra form. It is
+hard for me to choose which presentation is 'clearer' - it depends on
+the audience. In that case I usually opt for the faster implementation.
+
+I use numpy and scipy for all of the computations. I have experimented
+with Numba, Continuum Analytics just in time compiler, and it yields
+impressive speed ups with minimal costs, but I am not convinced that I
+want to add that requirement to my project. It is still on my list of
+things to figure out, however.
+
+As it evolves from alpha status I am adding documentation, tests, and
+examples, but at the moment the my book linked above serves as the best
+documentation. I am developing both in parallel, so one or the other has
+to suffer during the development phase. Reach out to me if you have
+questions or needs and I will either answer directly or shift my
+development to address your problem (assuming your question is a planned
+part of this library.
+
+Basic use:
+----------
+
+::
+
+    from filterpy.kalman import KalmanFilter
+    from filterpy.memory import FadingMemoryFilter
+
+
+    my_filter = KalmanFilter(3,4)
+
+Requirements
+------------
+
+numpy and scipy Python 2 or 3 matplotlib
+
+I haven't extensively tested backwards compatibility - I use the
+Anaconda distribution, and so I am on Python 3.4 and 2.7.5, along with
+whatever version of numpy, scipy, and matplotlib they provide. But I am
+using pretty basic Python - numpy.array, maybe a list comprehension in
+my tests.
+
+I import from **future** to ensure the code works in Python 2 and 3.
+
+The matplotlib library is required because, *for now*, 'tests' are very
+visual. Meaning I generate some data, plot the data against the filtered
+results, and eyeball it. That is great for my personal development, and
+terrible as a foundation for regression testing. If you don't have
+matplotlib installed you won't be able to run the tests, but I'm not
+sure the tests will have a lot of meaning to you anyway.
+
+There is one import from the code from my book to plot ellipses. That
+dependency needs to be removed. This only affects the tests.
+
+Testing
+-------
+
+All tests are written to work with py.test. Just type *py.text* at the
+command line.
+
+As explained above, the tests are not robust. I'm still at the stage
+where visual plots are the best way to see how things are working.
+Apologies, but I think it is a sound choice for development. It is easy
+for a filter to perform within theoretical limits (which we can write a
+non-visual test for) yet be 'off' in some way. The code itself contains
+tests in the form of asserts and properties that ensure that arrays are
+of the proper dimension, etc.
+
+References
+----------
+
+I use three main texts as my refererence, though I do own the majority
+of the Kalman filtering literature. First is Paul Zarchan's
+'Fundamentals of Kalman Filtering: A Practical Approach'. I think it by
+far the best Kalman filtering book out there if you are interested in
+practical applications more than writing a thesis. The second book I use
+is Eli Brookner's 'Tracking and Kalman Filtering Made Easy'. This is an
+astonishing good bood; its first chapter is actually readable by the
+layperson! Brookner starts from the g-h filter, and shows how all other
+filters - the Kalman filter, least squares, fading memory, etc., all
+derive from the g-h filter. It greatly simplifies many aspects of
+analysis and/or intuitive understanding of your problem. In contrast,
+Zarchan starts from least squares, and then moves on to Kalman
+filtering. I find that he downplays the predict-update aspect of the
+algorithms, but he has a wealth of worked examples and comparisons
+between different methods. I think both viewpoints are needed, and so I
+can't imagine discarding one book. Brookner also focuses on issues that
+are ignored in other books - track initialization, detecting and
+discarding noise, tracking multiple objects, an so on.
+
+I said three books. I also like and use Bar-Shalom's Estimation with
+Applications to Tracking and Navigation. Much more mathmatical than the
+previous two books, I would not recommend it as a first text unless you
+already have a background in control theory or optimal estimation. Once
+you have that experience, this book is a gem. Every sentence is crystal
+clear, his language is precise, but each abstract mathematical statement
+is followed with something like "and this means...".
+
+License
+-------
+
+Copyright (c) 2014 Roger R Labbe Jr
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.