  This paper illustrates the way for estimating position and orientation of a
vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear
model is designed and an adaptive calculation of measurement noise covariance
matrix is used, a so called ROSE-Filter (Rapid Ongoing Stochastic covariance
Estimation-Filter). Input of the system is the measured position from a two
dimensional position system. Estimated is the pose (position and orientation)
and the velocity of the vehicle.
