title: Estimating position with a Kalman Filter
body: <p>I am doing a project on Indoor Positioning. I have used NS2 and a matlab GUI named Senelex to find the original and estimated positions of nodes. Now I want to use a Kalman filter to estimate the position of the node/target.</p>
  
  <p>For example:</p>
  
  <p>If I consider the velocity of the target as constant, how can I use the determined values of estimated or original position of nodes to provide as input to a Kalman filter.</p>
  
  <p>The following are the estimated position and original position of nodes.</p>
  
  <pre><code>ori = [6.62650602409639 194.444444444445;
          6.62650602409639 10.6837606837607;
          192.168674698795 7.83475783475797;
          192.168674698795 191.595441595442;
          70.4819277108434 171.652421652422;
          129.518072289157 168.803418803419;
          24.6987951807229 144.586894586895;
          42.7710843373494 79.0598290598291];
  
  
  est   = [6.62650602409639 194.444444444445;
              6.62650602409639 10.6837606837607;
              192.168674698795 7.83475783475797;
              192.168674698795 191.595441595442;
              70.7600705547484 171.847603055024;
              129.443055817301 168.734648868329;
              25.01956026761   144.890243978875;
              42.6058125534278 79.1446327727804];
  </code></pre>
  
  <p>How can I use these as inputs to a Kalman filter and estimate the target using a Kalman filter?</p>