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A simple, one-variable sample code specifically for beginners.
You should take a weighted average. If you trust the radar more than your speedometer, you put more weight on the radar's number. If you trust the speedometer more, you weight that.
Kalman Filter for Beginners with MATLAB Examples – Download the top result. Run the car script. Then thank me.
% Update the error covariance P = (eye(2) - K * H) * P;