June 22, 2016 Patch
According to the documentation provided by Apple
The processed device motion data provided by the Core Motions sensor fusion algorithms give the device ratio, rotation speed, calibrated magnetic fields, direction of gravity and acceleration that the user transfers to the device.
That is, some kind of sensor fusion algorithm has been provided to date. I cannot say from this piece of information whether this algorithm for merging sensors is a Kalman filter or something equally.
(Reply from 2011.)
No, according to this post .
August 20, 2011 Patch
It is not clear from the Apple documentation (note: these related pages disappeared by June 22, 2016), which is actually provided. This is not like implementing a Kalman filter.
According to Kay (who sent me the link above), his own Kalman filter provides the best results.
Ali
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