The open source project DSP_INS is an inertial navigation system on the TI DSP platform TMS320F28335 with MEMS inertial sensors and commercial GPS module. Inertial sensors are actually used only for estimating attitude, heading and velocity.

Done for Microstrain 3DM-GX4-45 and measurement records on Debian laptop. Check Groves' book (ed.2 2013) and Madgwick's work.