Hi,
Not me.... But I'm sure it can be done with PBP, PBPL provides enough bits to get the resolution and but to be able to do it you need to actually understand how it works - which I don't :-(

If you understand the Kalman theory and/or how the C code works I'm sure that we, collectively, can work it out if we take it step by step.

I'd really like to see working Kalman filter in PBP as well.

/Henrik.