% Kalman Filter Navigation problem
%
% A ship is moving at a constant velocity with distance measurements  
% every 60 seconds to three shore-based beacons A, B and C.
%
% Data
%       Distances to beacons
% Epoch   A       B       C
    1	4249.7	7768.6	7721.1
    2	3876.1	7321.4	7288.5
    3	3518.4	6872.2	6857.6
    4	3193.3	6426.0	6429.1
    5	2903.6	5982.6	6009.7
    6	2664.0	5543.2	5596.6
    7	2490.9	5107.7	5191.5
    8	2392.9	4678.9	4797.1
    9	2383.2	4253.4	4417.8
    10	2463.0	3841.7	4050.9
    11	2623.2	3435.6	3709.9
    12	2849.0	3054.2	3395.8
    13	3126.7	2692.9	3119.4
    14	3446.9	2366.6	2891.1
    15	3793.4	2096.4	2724.4
    16	4166.0	1900.6	2630.9
    17	4552.2	1804.7	2610.2
    18	4956.2	1824.8	2677.4
    19	5366.4	1959.6	2819.7
    20	5785.0	2182.8	3023.5