diff --git a/src/traffic/algorithms/filters/ekf.py b/src/traffic/algorithms/filters/ekf.py
new file mode 100644
index 00000000..6123c039
--- /dev/null
+++ b/src/traffic/algorithms/filters/ekf.py
@@ -0,0 +1,353 @@
+from __future__ import annotations
+
+from typing import Annotated, Any, Callable
+
+from impunity import impunity
+from scipy import linalg
+
+import numpy as np
+import numpy.typing as npt
+import pandas as pd
+
+from . import FilterBase
+
+
+def extended_kalman_filter(
+    measurements: pd.DataFrame,
+    initial_state: pd.Series,
+    initial_covariance: npt.NDArray[np.float64],
+    Q: npt.NDArray[np.float64],
+    R: npt.NDArray[np.float64],
+    jacobian_state_transition: Callable[
+        [pd.Series, float], npt.NDArray[np.float64]
+    ],
+    state_transition_function: Callable[[pd.Series, float], pd.Series],
+    reject_sigma: float = 3,
+) -> pd.DataFrame:
+    num_states = len(initial_state)
+    states = np.repeat(
+        initial_state.values.reshape(1, -1), measurements.shape[0], axis=0
+    )
+    covariances = np.zeros((measurements.shape[0], num_states, num_states))
+
+    x = initial_state
+    P = initial_covariance
+    timestamps = measurements.index.to_series()
+
+    for i in range(1, len(timestamps)):
+        dt = (timestamps[i] - timestamps[i - 1]).total_seconds()
+
+        # Prediction Step
+        F = jacobian_state_transition(x, dt)
+        # Predicted (a priori) state estimate:
+        x = state_transition_function(x, dt)
+        # Predicted (a priori) estimate covariance:
+        P = F @ P @ F.T + Q
+
+        # Measurement update with rejection mechanism
+        measurement = measurements.iloc[i]
+        H = np.eye(num_states)
+        # Innovation or measurement pre-fit residual:
+        nu = measurement - x
+        # Innovation (or pre-fit residual) covariance:
+        S = H @ P @ H.T + R
+        std_devs = np.sqrt(np.diag(S))
+
+        # Component-wise standard deviation check (gating)
+        for j in range(num_states):
+            if abs(nu[j]) > abs(reject_sigma * std_devs[j]):
+                measurement.iloc[j] = x.iloc[j]  # Replace faulty measurement
+                H[j, j] = 0  # Ignore this component in the update
+
+        # Here we recompute the matrix in case something was rejected:
+        # Innovation (or pre-fit residual) covariance:
+        S = H @ P @ H.T + R
+        # Optimal Kalman gain:
+        K = linalg.solve(S, H @ P, assume_a="pos").T
+        # Updated (a posteriori) state estimate:
+        x = x + K @ nu
+        # Updated (a posteriori) estimate covariance:
+        P = (np.eye(num_states) - K @ H) @ P
+
+        states[i] = x
+        covariances[i] = P
+
+    return pd.DataFrame(states, columns=measurements.columns), covariances
+
+
+def rts_smoother(
+    states: pd.DataFrame,
+    covariances: npt.NDArray[np.float64],
+    Q: npt.NDArray[np.float64],
+    timestamps: pd.Series,
+    jacobian_state_transition: Callable[
+        [pd.Series, float], npt.NDArray[np.float64]
+    ],
+    state_transition_function: Callable[[pd.Series, float], pd.Series],
+) -> pd.DataFrame:
+    num_time_steps = states.shape[0]
+    smoothed_states = states.copy()
+    smoothed_covariances = covariances.copy()
+
+    for i in range(num_time_steps - 2, -1, -1):
+        dt = (timestamps[i + 1] - timestamps[i]).total_seconds()
+
+        F = jacobian_state_transition(states.iloc[i], dt)
+
+        # predicted state
+        predicted_state = state_transition_function(states.iloc[i], dt)
+        # predicted covariance
+        Pp = F @ covariances[i] @ F.T + Q
+
+        # G = linalg.solve(Pp, F @ covariances[i], assume_a="pos").T
+        G = covariances[i] @ F.T @ np.linalg.inv(Pp)
+        smoothed_states.iloc[i] = states.iloc[i] + G @ (
+            states.iloc[i + 1] - predicted_state
+        )
+        smoothed_covariances[i] = (
+            covariances[i] + G @ (covariances[i + 1] - Pp) @ G.T
+        )
+
+    return smoothed_states
+
+
+class ProcessXYZZFilterBase(FilterBase):
+    @impunity
+    def preprocess(self, df: pd.DataFrame) -> pd.DataFrame:
+        groundspeed: Annotated[Any, "kts"] = df.groundspeed
+        # the angle is wrapped between 0 and 2pi, we need to unwrap it
+        math_angle: Annotated[Any, "radians"] = np.unwrap(
+            np.radians(90 - df.track)
+        )
+        velocity: Annotated[Any, "m/s"] = groundspeed
+
+        x: Annotated[Any, "m"] = df.x
+        y: Annotated[Any, "m"] = df.y
+
+        altitude: Annotated[Any, "ft"] = df.altitude
+        # geoaltitude: Annotated[Any, "ft"] = df.geoaltitude
+        alt_baro: Annotated[Any, "m"] = altitude
+        # alt_geo: Annotated[Any, "m"] = geoaltitude
+
+        vertical_rate: Annotated[Any, "ft/min"] = df.vertical_rate
+        vert_rate: Annotated[Any, "m/s"] = vertical_rate
+
+        return pd.DataFrame(
+            {
+                "x": x,
+                "y": y,
+                "alt_baro": alt_baro,
+                # "alt_geo": alt_geo,
+                "math_angle": math_angle,
+                "velocity": velocity,
+                "vert_rate": vert_rate,
+            }
+        ).set_index(df["timestamp"])
+
+    @impunity
+    def postprocess(
+        self, df: pd.DataFrame
+    ) -> dict[str, npt.NDArray[np.float64]]:
+        x: Annotated[Any, "m"] = df.x
+        y: Annotated[Any, "m"] = df.y
+        alt_baro: Annotated[Any, "m"] = df.alt_baro
+        # alt_geo: Annotated[Any, "m"] = df.alt_geo
+        math_angle: Annotated[Any, "radians"] = df.math_angle
+        velocity: Annotated[Any, "m/s"] = df.velocity
+        vert_rate: Annotated[Any, "m/s"] = df.vert_rate
+
+        altitude: Annotated[Any, "ft"] = alt_baro
+        # geoaltitude: Annotated[Any, "ft"] = alt_geo
+        track: Annotated[Any, "degree"] = (90 - np.degrees(math_angle)) % 360
+        groundspeed: Annotated[Any, "kts"] = velocity
+        vertical_rate: Annotated[Any, "ft/min"] = vert_rate
+
+        return dict(
+            x=x,
+            y=y,
+            altitude=altitude,
+            # geoaltitude=geoaltitude,
+            track=track,
+            groundspeed=groundspeed,
+            vertical_rate=vertical_rate,
+        )
+
+
+class EKF(ProcessXYZZFilterBase):
+    @staticmethod
+    def state_transition_function(state: pd.Series, dt: float) -> pd.Series:
+        # Unpack the state vector
+        # _x, _y, _alt_baro, _alt_geo, math_angle, velocity, vert_rate = state
+        _x, _y, _alt_baro, math_angle, velocity, vert_rate = state
+
+        # Compute the derivatives
+        x_dot = velocity * np.cos(math_angle)
+        y_dot = velocity * np.sin(math_angle)
+        altitude_dot = vert_rate
+        # geoaltitude_dot = vert_rate
+
+        # Compute the predicted state
+        state_pred = state.copy()
+        state_pred.loc["x"] += x_dot * dt
+        state_pred.loc["y"] += y_dot * dt
+        state_pred.loc["alt_baro"] += altitude_dot * dt
+        # state_pred.loc["alt_geo"] += geoaltitude_dot * dt
+        # Other state variables (math_angle, velocity, vert_rate) are assumed
+        # to be constant over the time step
+        return state_pred
+
+    @staticmethod
+    def jacobian_state_transition(
+        x: pd.Series, dt: float
+    ) -> npt.NDArray[np.float64]:
+        # Unpack the state vector
+        # _, _, _, _, math_angle, velocity, _ = x
+        _, _, _, math_angle, velocity, _ = x
+
+        # # Compute the Jacobian matrix
+        # F_jacobian = np.eye(7)
+        # # Partial derivative of x_dot w.r.t math_angle:
+        # F_jacobian[0, 4] = -velocity * np.sin(math_angle) * dt
+        # # Partial derivative of x_dot w.r.t velocity:
+        # F_jacobian[0, 5] = np.cos(math_angle) * dt
+        # # Partial derivative of y_dot w.r.t math_angle:
+        # F_jacobian[1, 4] = velocity * np.cos(math_angle) * dt
+        # # Partial derivative of y_dot w.r.t velocity:
+        # F_jacobian[1, 5] = np.sin(math_angle) * dt
+        # # Partial derivative of altitude_dot w.r.t vertical_rate
+        # F_jacobian[2, 6] = dt
+        # # Partial derivative of geoaltitude_dot w.r.t vertical_rate
+        # F_jacobian[3, 6] = dt
+
+        # Compute the Jacobian matrix
+        F_jacobian = np.eye(6)
+        # Partial derivative of x_dot w.r.t math_angle:
+        F_jacobian[0, 3] = -velocity * np.sin(math_angle) * dt
+        # Partial derivative of x_dot w.r.t velocity:
+        F_jacobian[0, 4] = np.cos(math_angle) * dt
+        # Partial derivative of y_dot w.r.t math_angle:
+        F_jacobian[1, 3] = velocity * np.cos(math_angle) * dt
+        # Partial derivative of y_dot w.r.t velocity:
+        F_jacobian[1, 4] = np.sin(math_angle) * dt
+        # Partial derivative of altitude_dot w.r.t vertical_rate
+        F_jacobian[2, 5] = dt
+        # Partial derivative of geoaltitude_dot w.r.t vertical_rate
+        # F_jacobian[3, 6] = dt
+
+        return F_jacobian
+
+    def __init__(self, smooth: bool = True, reject_sigma: int = 3) -> None:
+        super().__init__()
+        self.reject_sigma = reject_sigma
+        self.smooth = smooth
+
+    def apply(self, data: pd.DataFrame) -> pd.DataFrame:
+        measurements = self.preprocess(data)
+
+        # initial state
+        x0 = measurements.iloc[0]  # Initial state
+        # P = np.eye(7)  # Initial covariance
+        P = np.eye(6)  # Initial covariance
+
+        std_dev_gps = 0
+        std_dev_baro = 0
+        window_size = 17
+        std_dev_track = 0
+        std_dev_gps_speed = 0
+        std_dev_baro_speed = 0
+        R = (
+            np.diag(
+                [
+                    (
+                        (
+                            measurements.x
+                            - measurements.x.rolling(window_size).mean()
+                        ).std()
+                        ** 2
+                        + std_dev_gps**2
+                    )
+                    ** 0.5,
+                    (
+                        (
+                            measurements.y
+                            - measurements.y.rolling(window_size).mean()
+                        ).std()
+                        ** 2
+                        + std_dev_gps**2
+                    )
+                    ** 0.5,
+                    (
+                        (
+                            measurements.alt_baro
+                            - measurements.alt_baro.rolling(window_size).mean()
+                        ).std()
+                        ** 2
+                        + std_dev_baro**2
+                    )
+                    ** 0.5,
+                    # (
+                    #     (
+                    #         measurements.alt_geo
+                    #         - measurements.alt_geo.rolling(window_size).mean()
+                    #     ).std()
+                    #     ** 2
+                    #     + std_dev_gps**2
+                    # )
+                    # ** 0.5,
+                    (
+                        (
+                            measurements.math_angle
+                            - measurements.math_angle.rolling(
+                                window_size
+                            ).mean()
+                        ).std()
+                        ** 2
+                        + std_dev_track**2
+                    )
+                    ** 0.5,
+                    (
+                        (
+                            measurements.velocity
+                            - measurements.velocity.rolling(window_size).mean()
+                        ).std()
+                        ** 2
+                        + std_dev_gps_speed**2  #
+                    )
+                    ** 0.5,
+                    (
+                        (
+                            measurements.vert_rate
+                            - measurements.vert_rate.rolling(window_size).mean()
+                        ).std()
+                        ** 2
+                        + std_dev_baro_speed**2
+                    )
+                    ** 0.5,
+                ]
+            )
+            ** 2
+        )
+
+        # Q = np.diag([0.1, 0.1, 0.01, 0.01, 0.3, 1, 0.5]) * R
+        Q = np.diag([0.1, 0.1, 0.01, 0.3, 1, 0.5]) * R
+        filtered_states, filtered_covariances = extended_kalman_filter(
+            measurements=measurements,
+            initial_state=x0,
+            initial_covariance=P,
+            Q=Q,
+            R=R,  # type: ignore
+            jacobian_state_transition=EKF.jacobian_state_transition,
+            state_transition_function=EKF.state_transition_function,
+            reject_sigma=self.reject_sigma,
+        )
+        if self.smooth:
+            filtered_states = rts_smoother(
+                filtered_states,
+                filtered_covariances,
+                Q,
+                measurements.index,
+                EKF.jacobian_state_transition,
+                EKF.state_transition_function,
+            )
+
+        return data.assign(**self.postprocess(filtered_states))
diff --git a/tests/test_filter.py b/tests/test_filter.py
index 2bb61d90..55c7eb43 100644
--- a/tests/test_filter.py
+++ b/tests/test_filter.py
@@ -1,4 +1,5 @@
 from cartes.crs import Lambert93  # type: ignore
+from traffic.algorithms.filters.ekf import EKF
 from traffic.algorithms.filters.ground import KalmanTaxiway
 from traffic.data.samples import full_flight_short
 
@@ -24,3 +25,17 @@ def test_snappy() -> None:
 
     assert 0 < g1.distance(h1).lateral.max() < 0.1
     assert 0 < g2.distance(h2).lateral.max() < 0.1
+
+
+def test_ekf() -> None:
+    f = (
+        full_flight_short.compute_xy(projection=Lambert93())
+        .query('bds in ["05", "09"]')  # type: ignore
+        .resample("1s")  # TODO the filter should work with partial measurements
+    )
+    assert f is not None
+    g = f.filter(EKF())
+    distance = g.distance(f)
+
+    # assert distance.lateral.max() <  # currently 0
+    assert distance.vertical.max() < 50