Implement Kalman Filter

Consider a truck moving in 1-Dimensional space. The dynamic model is: System dynamics is given in [login to view URL] x and v are the position and velocity along the x axis. atrue(t) is the true acceleration at time t and ω(t) is the process noise. Accelerometer measurement model: ameas(k)=atrue(k)+b+ωa(k)(2) ameas(k) is the measured acceleration, b is a constant bias in the accelerometer and ωa(k) is the zero mean white noise in the acceleration measurement. Range of the truck is measured using three becons, position of which are known. FURTHER DETAILS ARE ATTACHED........................................................................................................................