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This is a Matlab code package is related to the article: "Performance Enhancement for Multi-hop Harvest-to-Transmit WSNs With Path-Selection Methods in Presence of Eavesdroppers and Hardware Noises, IEEE Sensors Journal, vol. 18, 12, pp. 5173 - 5186 , April 2018. "
Simulates ball trajectory with gravity and bounce effects, applying a Kalman Filter for position estimation from noisy observations. Visualizes true trajectory, noisy data, and filter estimates with performance metrics.