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zscilib
An open-source scientific computing library for embedded systems running Zephyr OS or standalone.
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InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
For the past two years, I've been working on and off on a basic, open source scientific computing library in C (basic linear algebra on embedded devices, etc.), and hired a student this summer to work on adding some orientation algorithms.
It's still a work in progress, but we did dig up a couple other filter options to try out beyond the usual Extended Kalman (contributors very much welcome!).
https://github.com/zephyrproject-rtos/zscilib/tree/master/sr...
As another poster mentioned, finding the right parameters for the filters is essential, and involves a fair amount of testing and some trial and error to narrow them down to the right range for your application. There isn't a lot of info out there on that, either.