Truth & process
v
x,0
5.0 m/s
v
y,0
3.0 m/s
σ
a
(process)
2.0 m/s²
total time T
300 s
Filter model & sensors
σ
a
(model Q)
2.0 m/s²
Position sensor (measures p
x
, p
y
)
σ
pos
10.0 m
pos interval
10.0 s
Velocity sensor (measures v
x
, v
y
)
σ
vel
1.0 m/s
vel interval
5.0 s
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⟲ Restart
1×
2×
4×
8×
16×
t = 0.0 s
Reseed
Reset
Live trajectory · 2D top-down view (auto-scrolling, ±200 m window)
true trajectory
KF estimate
95% position covariance ellipse
position update
velocity update
Per-state estimation error · ±95% bounds
estimation error
±95% bound (z·σ from P diagonal)
Position estimate (live)
—
truth: —
Velocity estimate (live)
—
truth: —
σ
p
, σ
v
& ρ
pv
—
cross-correlation