KalmanLab

Live state

Truth position—

Fused estimate—

Fused velocity—

Covariance trace—

Steps / Ticks0

Error vs. truth (live)

GPS Odo (integrated) Fused

How to read it

The truck (green) drives the selected path. A GPS reports its position with noise; an odometer reports its velocity with noise. The Kalman filter fuses both into a smooth estimate with an explicit 3σ uncertainty ellipse.

Try: crank GPS dropout to 80% and keep odometry clean — the ellipse swells while GPS is silent and snaps down the instant it returns. Or crank σ_a way up — the filter becomes jumpy and trusts measurements more.

Keys: Space pause/play · R reset · . step