% tauk, a=51.21, no measurement error

P0=[ ...
  -0.01115449439811
   0.02320908090993
   0.00237110021252
  -0.01503837101248];
                                                                                
P=[ ...
   0.95211967067726   0.02402091076537  -0.00000138221732  -0.00192812684193
   0.07202780656658   0.92381124256753   0.56005153005138   0.00263186101715
   0.00887341666048  -0.00470641334284   0.98764444485161   0.00040770177130
  -0.00448200275993   0.02085121736989  -0.00102472473685   0.99465480049054];
                                                                                
Q=[ ...
  -0.01217725670384                  0                  0                  0
  -0.00090190166839   0.00659495565070                  0                  0
   0.00234515455644   0.00086886932715  -0.00110092023779                  0
   0.00000080459876   0.00738180854782  -0.00644914388679   0.01340316651740];
  
Sbar = (eye(4)-P)\P0;
x0   = [Sbar;P(:);Q(:,1);Q(2:4,2);Q(3:4,3);Q(4,4)];

