corrected errors in kalman filter implementation

track_audio.m

@@ -43,13 +43,17 @@ par_sub = genParStruct('cc_bBroadband',0,'cc_wSizeSec',winSec,...
 mObj  = manager(dObj,'localization',par_sub);
 
 %% Model parameters
+fs = 24414;
+chunks = 2048;
+dt = chunks/fs;
+sigma_w = 1;
 
-Q = [1/4+1e-3, 1/2; 1/2, 1];                       % Process noise covariance
-R = 1000;                                  % Measurement noise covariance
+Q = [2/4*dt^4, 1/2*dt^3; 1/2*dt^3, dt^2]*sigma_w;                       % Process noise covariance
+R = 1;                                  % Measurement noise covariance
 x = [0; 0];                             % Initial state
 P = [10, 0; 0, 10];                       % Initial state covariance
 
-A = [1, simParams.frameSize; 0, 1];     % System matrix (do not change)
+A = [1, dt; 0, 1];     % System matrix (do not change)
 c = [1; 0];                             % Output vector (do not change)
 
 % Check definiteness of covariance matrices