I. Extended Kalman Filter (EKF) II. Converted Measurement Kalman Filter (CMKF) III. Least Squares Fitting Method IV. Comparison of Least Squares, EKF, and CMKF V. Outlier Rejection Algorithm

This document contains MATLAB implementations of five key algorithms: Extended Kalman Filter (EKF) for nonlinear estimation, Converted Measurement Kalman Filter (CMKF) with bias removal, Least Squares fitting method, comparative analysis of these three filtering approaches, and an outlier rejection algorithm for data preprocessing.