I echo the sentiments of Kolbe. There really is no way to make a Kalman filter simple or intuitive. What I have found helps though, is to write one yourself bas

I echo the sentiments of Kolbe. There really is no way to make a Kalman filter simple or intuitive. What I have found helps though, is to write one yourself based on the math before using the libraries you find. Write one, print out every intermediate value to see how the matrix changes. It will be not-quite-correct, but it will give you insights to how exactly a kalman filter works