Do the sensor fusion algorithms of Core Motion take advantage of the Kalman filter?

Do the sensor fusion algorithms of Core Motion take advantage o开发者_开发百科f the Kalman filter?

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Update on June 22, 2016

According to the documentation provided by Apple,

The processed device-motion data provided by Core Motion’s sensor fusion algorithms gives the device’s attitude, rotation rate, calibrated magnetic fields, the direction of gravity, and the acceleration the user is imparting to the device.

That is, some sort of sensor fusion algorithm has been provided by now. I cannot tell from this piece of information whether that sensor fusion algorithm is the Kalman filter, or something equally good.

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_{(Answer back from 2011.)}

No, according to this post.

Update on Aug 20, 2011

It is not clear from Apple's documentation (note: this linked pages has disappeared by June 22, 2016) what is actually provided. It does not seem to be a Kalman filter implementation.

According to Kay (who sent me the above link) his own Kalman filter provides better results.