This little project came about because I kept running into the same problem: cleanly differentiating sensor data before doing analysis. There are a ton of ways to solve this problem, I've always personally been a fan of using kalman filters for the job as its easy to get the double whammy of resampling/upsampling to a fixed consistent rate and also smoothing/outlier rejection. I wrote a little numpy only bayesian filtering/smoothing library recently (https://github.com/hugohadfield/bayesfilter/) so this felt like a fun and very useful first thing to try it out on! If people find kalmangrad useful I would be more than happy to add a few more features etc. and I would be very grateful if people sent in any bugs they spot.. Thanks!