t,true_x,true_y,true_xvel,true_yvel,obs_x,obs_y,est_x,est_y,est_xvel,est_yvel
0,0,0,10,-5,-0.17519427888149242,0.03325271945178609,-0.005752708360647424,0.06566780969396123,10.404911640337994,-5.3664891801658126
0.01,0.10985393701350836,-0.04681525828310766,12.214932906164748,-4.663521248068887,0.20877122549059474,-0.13062888986643698,0.09990194539907213,0.010231336217968692,10.699578014320425,-5.728168936124605
0.02,0.22942596100027884,-0.10193195521447691,12.588032827184929,-6.313390826996766,0.13751267444123272,-0.029109838938422852,0.207891478780204,-0.049277604493843045,10.890032444635722,-6.204459331677047
0.03,0.34831110107944957,-0.17179666752790143,12.268367276049808,-6.671251228294885,0.3257101046532175,0.05013260488133878,0.3174193719391504,-0.11444103998176611,10.995520169160164,-6.855706597087632
0.04,0.46579734751286694,-0.2340007972257424,12.6710090260022,-6.216961469134137,0.5294906774957653,-0.029539918642032703,0.42741517969139625,-0.186667023651092,10.984997152081297,-7.5895400271470965
0.05,0.5831364821693544,-0.3083299894427832,11.346431384802786,-7.835943340472929,0.5736001195482735,-0.25382773454796115,0.536916556226296,-0.26597095982375074,10.91364650865834,-8.245109246919359
0.060000000000000005,0.7046776440293604,-0.38303589356803697,12.509026980196301,-7.653877472580545,0.6558696038869335,-0.29130765902709316,0.64571661621196,-0.3510262106713805,10.850847769454466,-8.737779091261997
0.07,0.826564118197667,-0.4538440637868034,12.185671121540738,-6.784559536848194,0.6930043032113695,-0.6896051496652196,0.7540400788811106,-0.4400637741026919,10.82001920996815,-9.031618671714966
0.08,0.9440560121207184,-0.5249569358805989,11.066611854401842,-8.631265162378735,0.8746515381765614,-0.4711972965682716,0.8621387630303903,-0.5313121879325781,10.795719436202008,-9.221539400237392
0.09,1.0519526263420176,-0.6101264457108873,10.122749014697554,-8.993098187476425,0.911674733594519,-0.6089855999518519,0.9698953585566786,-0.624463876741335,10.753686947894256,-9.402254518928382
0.09999999999999999,1.1464816640224513,-0.7077801545004281,9.512672446395127,-10.6128482170909,1.1910540273327919,-0.5467108980462284,1.07707721319011,-0.7192006043314513,10.671067820136898,-9.535967443711042
0.10999999999999999,1.2393400667944081,-0.8145814505081023,9.03543966803612,-10.86870972025877,1.1764756229085438,-0.7990071067598339,1.1832743531432188,-0.8147132716640701,10.575740147520195,-9.528694183048021
0.11999999999999998,1.3260391864304066,-0.9270667118606369,8.540682563897043,-11.13556641540447,1.27021891534282,-0.940094137846941,1.288728284464163,-0.9089908742556103,10.52129297199815,-9.286336801344586
0.12999999999999998,1.4127314434496354,-1.0342666521836843,8.926942673702722,-10.364993337418557,1.4505551521243407,-1.2258642664224393,1.3937943007412377,-0.9996820557853057,10.495072243892754,-8.816593847944288
0.13999999999999999,1.4948940180627106,-1.1289338947291927,8.120092861321801,-8.499195033100769,1.4199935325853947,-1.2643420301381878,1.49878756997051,-1.084993608432554,10.516203704334885,-8.248108059961359
0.15,1.5880668434174225,-1.2064655094892227,10.060319866979086,-7.78716668733869,1.530879504191098,-1.0459704148578566,1.604239493479757,-1.1649909585898288,10.57367076032354,-7.783644753567178
0.16,1.7010540807586572,-1.2782666629885322,11.796854045053582,-6.22998475439468,1.8515196324512047,-1.2236115237148937,1.710128513784346,-1.2411137915724828,10.591396398521828,-7.453367867748582
0.17,1.819610658388489,-1.3457805817354878,10.719648659516654,-7.275693096722509,1.9177029452606291,-1.2767440263564176,1.8160483352731893,-1.3142780659940696,10.60339618361885,-7.189015996710786
0.18000000000000002,1.9317651241351994,-1.4145173313415504,11.04111215542687,-6.705950946572126,1.8839526675682043,-1.445827314830972,1.9225824274941428,-1.3850221343768092,10.731192979941754,-6.963070986706171
0.19000000000000003,2.040347288207596,-1.4790975268768192,10.68463340321212,-6.71159004707363,2.0778524616980647,-1.440788256458589,2.031163226326213,-1.4537062938329979,11.006299212521292,-6.787168408142991
0.20000000000000004,2.1506611463625296,-1.5461890730806191,11.09856314060486,-5.8736806930983,2.1774835266076216,-1.5426277332958283,2.143212875657834,-1.5210121225496067,11.432744619080415,-6.685251832561122
0.21000000000000005,2.2676743289056343,-1.6085384072348705,12.342625136946841,-7.183069385225623,2.140532700485813,-1.575233862937779,2.2604575157649562,-1.5876724464497778,12.051009142779948,-6.6616700466464716
0.22000000000000006,2.404750592139779,-1.6850267651862683,13.472645648955519,-8.299793268593922,2.3265282737388806,-1.6860577069959606,2.384729698630019,-1.654521934493484,12.81826570145521,-6.721011564016148
0.23000000000000007,2.538821522288822,-1.770754183626731,13.773527824249657,-8.59546336154457,2.4567027045408203,-1.714417709452257,2.517022592843696,-1.722400917389366,13.645451175021066,-6.872824979165393
0.24000000000000007,2.6716908483251895,-1.8483326567358973,14.196440252593549,-7.271046763644436,2.6511588808806104,-1.788171071092956,2.6576409496580853,-1.7923259280103325,14.473304906880507,-7.12888657437689
0.25000000000000006,2.8284393840392137,-1.9200833704531381,16.231293325763783,-7.567217737256183,2.7427638044024443,-1.7187293268348123,2.8063795819138173,-1.8653059127023537,15.268425918493355,-7.483127317223396
0.26000000000000006,2.994176731844736,-1.9873570944072225,16.936808941926767,-6.7336015463138175,2.9836050107187284,-2.0664124932331753,2.962783529216649,-1.9420645191089423,15.995765286715184,-7.860181486312451
0.2700000000000001,3.161866239211039,-2.0544978899391455,16.307289842367336,-7.390233974270938,3.0680426738635482,-2.0339467043700195,3.1259976250101356,-2.0225485394965057,16.63392586354135,-8.248934775772403
0.2800000000000001,3.3264595087818716,-2.124364358605541,17.45872647013122,-7.038967635708473,3.2862447445373624,-2.0972654958052366,3.295102894733416,-2.10730845525729,17.1643409141496,-8.71726025510212
0.2900000000000001,3.4953188477991888,-2.2005093573969994,17.292242871859013,-8.509710670711154,3.5628511742389817,-2.1479266410565696,3.4688139363701636,-2.19716124390715,17.553603887868615,-9.26583552701234
0.3000000000000001,3.666220595604146,-2.292595407452706,16.361573747911777,-9.866669510828489,3.852572977323505,-2.265891724128282,3.645846430713946,-2.292793869168967,17.84430432853478,-9.865021810351749
0.3100000000000001,3.8282996279081445,-2.385704716790714,16.752535637209004,-9.451811494095164,3.776347378747616,-2.3643554183929565,3.825872754138147,-2.3945034889057966,18.186824128387276,-10.476750731174713
0.3200000000000001,4.009933767640782,-2.4809770139565464,19.017789589090423,-9.561936491073274,3.999957917143251,-2.4226199928831083,4.010017646431011,-2.502275608891484,18.659763873035615,-11.072497181704469
0.3300000000000001,4.196016417193336,-2.5859962293344654,18.030823564265823,-12.30528128482581,4.126088249211568,-2.634151032622628,4.199403456240382,-2.6157171514947066,19.23333101014066,-11.597359318680407
0.34000000000000014,4.385496553421464,-2.718248667246335,19.333288039764607,-12.824212935522903,4.114711216117575,-2.8751542158502623,4.3948807330481525,-2.7338844779951117,19.86583807154412,-12.020726274662305
0.35000000000000014,4.573795641912359,-2.849442617355172,18.522848952726154,-13.05555115532586,4.669437664706043,-2.6619390527154385,4.596327542878993,-2.8560595324162774,20.380542695266296,-12.422449859141697
0.36000000000000015,4.769090605682673,-2.982793099564866,19.86221231373825,-12.992233074688903,4.862556993912962,-2.985232531907251,4.801753813169368,-2.9821732460365276,20.673915183755437,-12.776104701195736
0.37000000000000016,4.970894885032518,-3.113530621448597,20.893467907261485,-12.136520083180283,5.010022866741689,-3.2805688169857294,5.0092912616076095,-3.1111029619757242,20.81291218829686,-12.986160203909364
0.38000000000000017,5.18367161222373,-3.239440595472073,21.68785662064902,-11.950650095887221,5.290718613566963,-3.1613452485044284,5.217600029965276,-3.2417053275517147,20.828301101829396,-13.138878937722952
0.3900000000000002,5.398342096465159,-3.3575516321313197,21.02689307363186,-12.350306590900322,5.444524415286107,-3.5180476874391715,5.4255683403220605,-3.3738379277937876,20.757007018720945,-13.278813790617855
0.4000000000000002,5.60214586789908,-3.483857221693752,19.65450392694707,-13.353872159264645,5.791545949818457,-3.4364838044474015,5.632604684781834,-3.5073454065620067,20.645067268254362,-13.437889602893122
0.4100000000000002,5.801564309844854,-3.625741862564925,21.088652835981122,-14.159550268893113,5.762967871614991,-3.585477432564198,5.838630695695954,-3.6427817699788028,20.581430520429986,-13.65278045331414
0.4200000000000002,6.009006720966692,-3.7643324226936854,20.15517843715952,-13.684075256982238,5.982107645219091,-3.7796196896131518,6.044533102600833,-3.7803734558562265,20.607735995725644,-13.859403372116308
0.4300000000000002,6.2152781515250615,-3.9041192477865483,20.68360225093159,-14.20683856472424,6.249634530619232,-3.9018303488991375,6.250855075885096,-3.91984551414297,20.654939553409978,-14.028729307470783
0.4400000000000002,6.4198856442300904,-4.056748252018184,19.56546579343706,-16.11914091786488,6.410655171066419,-4.0205348825642595,6.457595477272582,-4.060792437175005,20.69121819215919,-14.151373793634118
0.45000000000000023,6.620529935421447,-4.217837507998785,20.414914540327384,-15.796838804844159,6.656535280820796,-4.283443437914567,6.664562755246043,-4.202620263985256,20.69249148623727,-14.198200470679026
0.46000000000000024,6.82767601077761,-4.3803446755604885,20.874471957551727,-16.36890269646097,6.9569191094757645,-4.381803240259074,6.871237009547372,-4.3445713299237205,20.6312755453285,-14.189492148264794
0.47000000000000025,7.041438435620458,-4.5375943151115345,21.686695079835893,-15.830129756124032,7.1035366053681,-4.411902020526812,7.077109393078496,-4.486421748759462,20.546397682184452,-14.184276368523744
0.48000000000000026,7.255445992183614,-4.688492404710883,21.077410122086693,-14.711330036418847,7.266348558213159,-4.727190344344143,7.28227293897064,-4.6282063527399435,20.493912552914136,-14.16390922250723
0.49000000000000027,7.459217744150126,-4.823839852257623,20.322813522582173,-13.277382267116609,7.457431165374528,-4.723117441215232,7.487113124635577,-4.7696902024276415,20.479071573283612,-14.140622841901024