xm    = 5;
Px    = 9;
kappa = 2;

[Xi W]      = SigmaPoints(xm, Px, kappa);
[xAvg xCov] = UT(Xi, W)
philbooks
github-repos/MATLAB/philbooks-Kalman-Filter-for-Beginners/Kalman-Filter-for-Beginners-5190a723dcbf96eacda71ed56abddb3a11779a82/15.UKF/UT/TestUT.m
Kalman-Filter-for-Beginners
github-repos/MATLAB/philbooks-Kalman-Filter-for-Beginners
5190a723dcbf96eacda71ed56abddb3a11779a82