I have a embedded system where I get some type of sensor readings with varying frequency between 0.3 to 1 Hz. Sometimes these readings may have impulse like noise. To filter out this noise, I've implemented a median filter with total 3 data points. Since noisy values does not occur repeatedly, my filter works well except it adds single reading time as delay. The microcontroller that I'm using has limited sources with no Floating-point Unit. I am looking for alternative filters which are closer to real-time and does not consume much resource.