% tauk, a=51.21, with measurement error

P0=[ ...
  -0.00620891437498
   0.00799072451166
   0.00142913539769
  -0.00444884544005];
P=[ ...
   0.98443030447717  -0.00011822279187   0.11793615935876  -0.00316187306643
   0.01765825755909   0.98021690598419   0.13281209280785   0.00170631092260
  -0.00052148823976   0.00570449483951   0.84880059455226   0.00114738470370
   0.00650269494847   0.00001054128273   0.00146781560753   0.99705818163118];
                                                                                
Q=[ ...
  -0.00982659156034                  0                  0                  0
   0.00109415585575   0.00644178595424                  0                  0
   0.00398338125463   0.00132686337263  -0.00131502188279                  0
   0.00131135652249   0.00861607290582  -0.00785474010055   0.01089253980773];
  
Sbar = (eye(4)-P)\P0;
x0   = [Sbar;P(:);Q(:,1);Q(2:4,2);Q(3:4,3);Q(4,4)];

