The usual approach to nonstandard (or infinitesimal) calculus (based on Abraham Robinson's work, Non-standard Analysis, 1962) does indeed depend on ultrafilters and the Axiom of Choice, and is usually reserved for third year university level or even post graduate courses. This is a shame, because everything one needs to establish a rigorous "hyperreal" extension of the real numbers, complete with (nonzero) infinitesimals and their infinite reciprocals, can be found in high school level algebra.
An infinitesimal is a number with an absolute value (or size) less than every positive standard real number, no matter how small. The only such standard number is zero, itself. One needs to think a bit outside the standard box to find a rigorous model of nonzero infinitesimals.
Consider the set of rational functions, ratios of one polynomial to another, in a single positive integer variable (an index n) with real coefficients, where f <, =, or > g iff, for some n0, n>n0 implies f(n) <, =, or > g(n), respectively. This set (call it †R is an ordered field that is a superset of R, the "standard" real numbers and proper subset of Robinson's hyperreals, *R, with the constant functions identified with the standard reals.
Does †R contain any infinitesimals? Yes, j(n) = 1/n is less than every positive constant function for all values of n greater then the reciprocal of the constant, and is still greater than zero. In fact, every polynomial ratio with a denominator of greater degree than its numerator is an infinitesimal. And, every such ratio with a numerator of greater degree than its denominator is infinitely large.
Ratios with numerators of the same degree as their denominators are finite numbers that differ at most from some unique constant by some infinitesimal. (The constant is just the ratio of the leading coefficients. Robinson calls that the "standard part" of the finite number. Finding it is just the same as "rounding off" that finite number to the "nearest real number," a concept much more intuitive than finding derivatives and integrals as limits using the standard epsilon/delta definition.)
Robinson represents the "standard part of x," where x is a finite, but nonstandard, number, as °x, which I prefer to read as "the nearest standard value of x."
The open interval between n0 and infinity contains all but some finite set of positive integers, and, when one defines any mathematical statement about members of †R as holding iff it holds for all but some finite set positive integer values of the index, it is easy to prove the most important theorem of nonstandard analysis, the Transfer Principle, that every "first order" statement about elements of n0 has the same truth value as it does for elements of R, without recourse to ultrafilters or the AoC, and proofs using infinitesimals are equivalent to proofs using limits, just as Leibniz claimed 300 ago.
The earliest example of this model (the polynomial ratios) I have found is in Edwin Moise's Elementary Geometry from an Advanced Standpoint, 1962, Chapter 28. An Example of an Ordered Field which is not Archimedean. Moise let's the index variable range through all real values, and does not mention the use of this field in calculus, but I think the coincidence of dates with Robinson's suggests that there is a link.
So Sylvanus Thompson (Calculus Made Easy, 1910) was right to thumb his nose at the "mostly clever fools" who insisted that calculus had to be hard. It only took a half a century for Rigorous Mathematics to catch up with him. And there is no need to hide the advantages of Nonstandard Calculus from the rest of us.