Kalman filter for ocean waves using IMU

I’ve designed and implemented a Kalman filter for boat movement in ocean waves using IMU. I thought it might be of interest to someone here.

Implementation on a real device uses atomS3R unit.

Estimates boat heave in real time and waves direction too.

OU-Driven Quaternion MEKF for Marine INS and
Wave-State Estimation.

The code is open source and on GitHub Bareboat Necessities project called ‘ocean-imu’.

Any feedback is greatly appreciated.

Thanks!

PS: I’ll post the links in comments