gonzaq94/Kalman-filtering

2D trajectory estimation using Kalman filtering. The vehicle is supposed to be equipped with two accelerometers (one in each coordinate) and one gyroscope ; we also dispose of a radar telling the vehicle's position at discrete time intervals. The different cases of the measuring devices being biased are contemplated. The extended Kalman filtering and the optimum implementation (based on the Cholesky QR factorization) are also implemented.