Hi, I try to reduce noise of sensor reading using EKF and this is what I got http://s1308.photobucket.com/user/dmngu9/media/untitled_zpsnsnllpfy.png.html

it does reduce noise a bit but still follow the trend (red line is ground truth, blue is EKF, green is measured ). Does that mean my transition equation is wrong ?

Is EKF good with high noise data like this