# Estimation Filters

Kalman and particle filters, linearization functions, and motion
models

Sensor Fusion and Tracking Toolbox™ provides estimation filters that are optimized for specific scenarios, such as linear or nonlinear motion models, linear or nonlinear measurement models, or incomplete observability.

## Functions

## Topics

**Introduction to Estimation Filters**General review of estimation filters provided in the toolbox.

**Linear Kalman Filters**Estimate and predict object motion using a Linear Kalman filter.

**Extended Kalman Filters**Estimate and predict object motion using an extended Kalman filter.

**Introduction to Out-of-Sequence Measurement Handling**Definition of out-of-sequence measurement and techniques of handling OOSM.

**Generate Code with Strict Single-Precision and Non-Dynamic Memory Allocation from Sensor Fusion and Tracking Toolbox**Introduce functions, objects, and blocks that support strict single-precision and non-dynamic memory allocation code generation in Sensor Fusion and Tracking Toolbox.