Does 3d position tracking require a linear or a non-linear Kalman filter?
<p>I want to design a Kalman filter with the following details. </p>

<pre><code>state matrix =  [Px, Py, Pz, Vx, Vy, Vz] (3d position, 3d velocity)
input control vector = [Ax, Ay, Az] (3d acceleration)
measurement matrix = [Px, Py, Pz] (3d position)
</code></pre>

<p>For me it seems to be a non-linear problem due to the presence of <code>acc(t * t)</code> factor. However I came across some videos dealing with such problems in a 2D scenario with a Linear Kalman filter. </p>

<p>Could you please help me in clarifying whether my scenario is an EKF problem or a simple KF problem?</p>