% Generate true motion and noisy measurements true_position = 0:dt:50; measurements = true_position + sqrt(R)*randn(size(true_position));
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% Filter est_pos = zeros(size(t)); for k = 1:length(t) % Predict x = A * x; P = A * P * A' + Q; % Generate true motion and noisy measurements true_position
% Measurement noise (GPS error) R = 10;
est_pos(k) = x(1); end
% Simulate t = 0:dt:5; true_pos = 100 + 0 t + 0.5 (-9.8)*t.^2; measurements = true_pos + sqrt(R)*randn(size(t)); est_pos(k) = x(1)
