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Particle, Sigma-Point, and Kalman Filters

version (3.3 MB) by Tucker McClure
A particle filter, sigma-point filter, and extended/linear Kalman filters with demos and utilities.


Updated 17 Dec 2017

GitHub view license on GitHub

This submission contains four general-use filters for state estimation, including:
* a particle filter (bootstrap filter),
* a sigma-point (unscented) filter,
* an extended Kalman filter,
* and a linear Kalman filter.

It also includes demonstration files for each, with many plots, animations, and code comments.

Several small utilities related to state estimation are included as well.

These files correspond to the "How Kalman Filters Work" article available here:

Cite As

Tucker McClure (2021). Particle, Sigma-Point, and Kalman Filters (, GitHub. Retrieved .

Comments and Ratings (5)

Michael Meiler


wenpeng liu


Does this package include the unscented particle filter(particle filter with UKF proposal)?


it is vary useful for me to learn Kalman ,particle filter.thanks vary much

MATLAB Release Compatibility
Created with R2016a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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