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diff --git a/include/SimpleKalmanFilter.h b/include/SimpleKalmanFilter.h
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+/*
+ * SimpleKalmanFilter - a Kalman Filter implementation for single variable models.
+ * Created by Denys Sene, January, 1, 2017.
+ * Released under MIT License - see LICENSE file for details.
+ */
+
+#ifndef SimpleKalmanFilter_h
+#define SimpleKalmanFilter_h
+
+class SimpleKalmanFilter
+{
+
+public:
+  SimpleKalmanFilter(float mea_e, float est_e, float q);
+  float updateEstimate(float mea);
+  void setMeasurementError(float mea_e);
+  void setEstimateError(float est_e);
+  void setProcessNoise(float q);
+  float getKalmanGain();
+  float getEstimateError();
+
+private:
+  float _err_measure;
+  float _err_estimate;
+  float _q;
+  float _current_estimate = 0;
+  float _last_estimate = 0;
+  float _kalman_gain = 0;
+
+};
+
+#endif