The Kalman filter’s algorithm is a 2-step process. Here is my Matlab code: (I don't want to use the Matlab Kalman function ;) ) My question is, is there a more appropriate model of a Kalman filter for the type of car that I'm trying to predict? Models · KalmanFilter - Gitbooks Kalman Filter Python Example Although the model works well for constant velocity, there's a trailing when the velocity goes from V to zero as Fig. The Kalman filter’s algorithm is a 2-step process. Kalman Filters MATLAB Estimation Filters. The Kalman filter’s algorithm is a 2-step process. Kalman filters track an object using a sequence of detections or measurements to estimate the state of the object based on the motion model of the object. Alternatively, you can specify the transition matrix for linear motion. Kalman Filter State Update Model. You use the Kalman Filter block from the System Identification Toolbox/Estimators library to estimate the position and velocity of a ground vehicle based on noisy position measurements such as GPS sensor measurements. This dynamic model is in our case is “constant velocity” model because it assumes that the velocity remains constant during a filter’s calculation step(dt).