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2015-08-19 00:33:42 -0500 asked a question Kalman filter for parabolic motion

Hi I have to implement a Kalman filter for noise removal in a parabolic trajectory and estimate position, velocity and accleration (accleration mostly). I am unable to understand how would the equations come up to be. So far: I thought of taking a parabola and parameterizing "x" and "y" w.r.t time. This will give me two curves x w.r.t time and y w.r.t time being a linear and a parabolic curve respectively. I will then be adding nosie to it and then using the kalman filter for the removal of the added noise. Kindly help me with the matrices and equations