/* initialize kalman stuff */

T = 0.2;
A = [ 1 T; 0 1];
AT = A';
C = [ 1 0];

Ke = eye(2,2);

S2a = 0.1;	/* S2a*T is noise acceleration spectral height */
Kn = 0.05;	/* measurement noise variance */

Ku = [ T*T*T*T/3  T*T*T/2;  T*T*T/2  T*T] * S2a;
