Index: branch/KANAAN/sp4a12/main.c
===================================================================
--- branch/KANAAN/sp4a12/main.c	(revision 414)
+++ branch/KANAAN/sp4a12/main.c	(revision 415)
@@ -27,11 +27,10 @@
     return 1;
 }
 
-//Fonction � modifier !!!!!
 void traitement(char * trame)
 {
-    static int cpt=0;
-    cpt++;
+    static int count=0;
+    count++;
 
     if(trame_cmp(trame, "GPGGA"))
         printf ("> %s\n",trame);
@@ -45,7 +44,7 @@
         return -1;
 }
 
-void test_decode_int(void)
+void test_decode_int()
 {
     char i;
 
@@ -78,15 +77,70 @@
     return res;
 }
 
+// Fonction de tests unitaire
 void test_decode_nombre()
 {
-    char i;
-    char test[]="987654321";
+    if (decode_nombre("135654321",5) != 13564)
+    {
+        printf ("Erreur Test unitaire decode_nombre.\n");
+        exit(-1);
+    }
+    if (decode_nombre("93241",3) != 932)
+    {
+        printf ("Erreur Test unitaire decode_nombre.\n");
+        exit(-1);
+    }
+}
 
-    for(i=0;i<strlen(test);i++)
+
+typedef struct
+{
+    float latitude;
+    float longitude;
+} Position ;
+
+int decode_trame(char *trame, Position *p)
+{
+    if(trame_cmp(trame, "GPGGA"))
     {
+        const char *delim = ",";
+        int i, nb_virgule;
 
+        /*On compte deux virgule*/
+        for(nb_virgule= 0, i=0; nb_virgule <3; i++)
+        {
+            if(trame[i]==*delim)
+                ++nb_virgule;
+        }
+
+        /*On lit la latitude*/
+        i=16;
+        p->latitude = decode_int(trame[i])*10
+                      +decode_int(trame[i+1])
+                      +decode_int(trame[i+2]/6)
+                      +decode_int(trame[i+3]/60)
+                      +decode_int(trame[i+5]/600)
+                      +decode_int(trame[i+6]/6000)
+                      +decode_int(trame[i+7]/60000)
+                      +decode_int(trame[i+8]/600000);
+        i=26;
+        if(trame[26]=='S')
+            p->latitude = -p->latitude;
+
+        /*On lit la longitude*/
+        i=28;
+        p->longitude =  decode_int(trame[i])*100+decode_int(trame[i+1])*10
+                        +decode_int(trame[i+2])+decode_int(trame[i+3]/6)
+                        +decode_int(trame[i+4]/60)+decode_int(trame[i+6]/600)
+                        +decode_int(trame[i+7]/6000)+decode_int(trame[i+8]/60000)
+                        +decode_int(trame[i+9]/600000);
+        if(trame[39]=='W')
+            p->longitude = -p->longitude;
+
+        return 1;
     }
+    else
+        return 0;
 }
 
 //Ajouter vos tests unitaires dans cette fonction.
@@ -116,6 +170,11 @@
     {
         printf ("Erreur Test unitaire trame_cmp.\n");
         exit(-1);
+
+        // Appel de la fonction de tests pour decode_int()
+        test_decode_int();
+        // Appel de la fonction de tests pour decode_nombre()
+        test_decode_nombre();
     }
 }
 
Index: branch/KANAAN/sp4a3/sp4a3_kalman.c
===================================================================
--- branch/KANAAN/sp4a3/sp4a3_kalman.c	(revision 414)
+++ branch/KANAAN/sp4a3/sp4a3_kalman.c	(revision 415)
@@ -1,194 +1,310 @@
-//  Pour compiler : gcc sp4a3_kalman.c  -lm
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <math.h>
-
-#include "sp4a3_kalman_extra.h"
-
-
-void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
-
-}
-
-void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m]){
-
-}
-
-void Transpose_Mat(int n,int m,double A[n][m],double R[m][n]){
-	int i,j;
-	for (i=0;i<n;i++)
-		for (j=0;j<m;j++)
-			R[j][i]=A[i][j];
-}
-
-void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma]){
-
-}
-
-void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb]){
-
-}
-
-
-
-void tests_unitaires(void){
-	//Matrices d'entrée
-	double T21a[2][1]={{7},{-5}};
-	double T21b[2][1]={{-3},{46}};
-	double T22a[2][2]={{12,78},{-5,13}};
-	double T22b[2][2]={{-25,36},{7,42}};
-	double T24[2][4]={{7,-71,-12,3},{41,123,-5,10}};
-	double T41a[4][1]={{45},{-123},{-78},{-410}};
-	double T41b[4][1]={{-10},{45},{27},{-9}};
-	double T42a[4][2]={{-73,45},{10,12},{-41,-35},{8,-23}};
-	double T44a[4][4]={{1,2,7,4},{6,5,7,8},{9,8,7,6},{5,4,3,2}};
-	double T44b[4][4]={{12,13,14,15},{21,22,23,40},{78,45,12,3},{54,10,12,47}};
-
-	//Matrices résultat
-	double R21[2][1],R22[2][2],R24[2][4],R41[4][1],R42[4][2],R44[4][4];
-
-	//Matrices de validation
-	double RST21[2][1]={{10},{-51}};
-	double RInvT22[2][2]={{0.02380952380952381,-0.1428571428571428},{0.009157509157509158,0.02197802197802198}};
-	double RAT22[2][2]={{-13,114},{2,55}};
-	double RTT24[4][2]={{7,41},{-71,123},{-12,-5},{3,10}};
-	double RMT24T41[2][1]={{8754},{-16994}};
-	double RMT24T42[2][2]={{-705,-186},{-1478,3266}};
-	double RMT24T44[2][4]={{-512,-425,-523,-606},{784,697,1143,1138}};
-	double RAT41[4][1]={{35},{-78},{-51},{-419}};
-	double RMT42T21[4][1]={{-736},{10},{-112},{171}};
-	double RMT42T22[4][2]={{-1101,-5109},{60,936},{-317,-3653},{211,325}};
-	double RMT42T24[4][4]={{1334,10718,651,231},{562,766,-180,150},{-1722,-1394,667,-473},{-887,-3397,19,-206}};
-	double RTT44[4][4]={{1,6,9,5},{2,5,8,4},{7,7,7,3},{4,8,6,2}};
-	double RMT44T41[4][1]={{-2387},{-4171},{-3585},{-1321}};
-	double RMT44T42[4][2]={{-308,-268},{-611,-99},{-816,118},{-432,122}};
-	double RAT44[4][4]={{13,15,21,19},{27,27,30,48},{87,53,19,9},{59,14,15,49}};
-	double RST44[4][4]={{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
-	double RMT44T44[4][4]={{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
-
-	printf("Execution des tests unitaires.\n");
-	Transpose_Mat(2,4,T24,R42);		if (!Equal_Mat_Mat(RTT24,R42)) 		error("Erreur calcul Transposition 2x4");
-	Transpose_Mat(4,4,T44a,R44);	if (!Equal_Mat_Mat(RTT44,R44)) 		error("Erreur calcul Transposition 4x4");
-	Inverse_Mat_22(2,2,T22a,R22);	if (!Equal_Mat_Mat(RInvT22,R22)) 	error("Erreur calcul Inversion 2x2");
-	Add_Mat_Mat(2,2,T22a,2,2,T22b,R22);	if (!Equal_Mat_Mat(RAT22,R22)) 		error("Erreur calcul Addition 2x2");
-	Add_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RAT44,R44)) 		error("Erreur calcul Addition 4x4");
-	Add_Mat_Mat(4,1,T41a,4,1,T41b,R41);	if (!Equal_Mat_Mat(RAT41,R41)) 		error("Erreur calcul Addition 4x1");
-	Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21);	if (!Equal_Mat_Mat(RST21,R21)) 		error("Erreur calcul Soustraction 2x1");
-	Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RST44,R44)) 		error("Erreur calcul Soustraction 4x4");
-	Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44);	if (!Equal_Mat_Mat(RMT44T44,R44)) 	error("Erreur calcul Multiplication 4x4 4x4");
-	Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41);	if (!Equal_Mat_Mat(RMT44T41,R41)) 	error("Erreur calcul Multiplication 4x4 4x1");
-	Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42);	if (!Equal_Mat_Mat(RMT44T42,R42)) 	error("Erreur calcul Multiplication 4x4 4x2");
-	Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41);	if (!Equal_Mat_Mat(RMT42T21,R41)) 	error("Erreur calcul Multiplication 4x2 2x1");
-	Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42);	if (!Equal_Mat_Mat(RMT42T22,R42)) 	error("Erreur calcul Multiplication 4x2 2x2");
-	Mul_Mat_Mat(4,2,T42a,2,4,T24,R44);	if (!Equal_Mat_Mat(RMT42T24,R44)) 	error("Erreur calcul Multiplication 4x2 2x4");
-	Mul_Mat_Mat(2,4,T24,4,1,T41a,R21);	if (!Equal_Mat_Mat(RMT24T41,R21)) 	error("Erreur calcul Multiplication 2x4 4x1");
-	Mul_Mat_Mat(2,4,T24,4,2,T42a,R22);	if (!Equal_Mat_Mat(RMT24T42,R22)) 	error("Erreur calcul Multiplication 2x4 4x2");
-	Mul_Mat_Mat(2,4,T24,4,4,T44a,R24);	if (!Equal_Mat_Mat(RMT24T44,R24)) 	error("Erreur calcul Multiplication 2x4 4x4");
-	printf("Test unitaires OK.\n");
-}
-
-int main(int argc,char **argv){
-
-	tests_unitaires();
-
-	FILE* fichier = fopen("pos_t_x_y.dat","r");
-	if (fichier == NULL)
-        error("Impossible d'ouvrir le fichier GPGGA_data.dat");
-
-    FILE * Fout = Fout = fopen("output.dat","w");
-	if (fichier == NULL)
-        error("Impossible d'ouvrir le fichier output.dat");
-
-	printf("Kalman\n");
-	double t = 0;
-	double t0,x0,y0;
-	double x,y;
-	double oldx,oldy;
-	double dx=0,dy=0,dt=0.1;
-	int cpt = 0;
-
-	// kalman param
-	double sigma_etat = 10.0;
-	double sigma_observation = 2.0;
-	double X[4][1] = {{0},{0},{0},{0}};
-
-	double P[4][4] = 	{{sigma_etat*sigma_etat, 0, 0, 0},
-						 {0, sigma_etat*sigma_etat, 0, 0},
-						 {0, 0, 0, 0},
-						 {0, 0, 0, 0}};
-
-	double Q[4][4] =	{{0, 0, 0, 0},
-						 {0, 0, 0, 0},
-						 {0, 0, 0.1, 0},
-						 {0, 0, 0, 0.1}};
-
-	double R[2][2] = 	{{sigma_observation*sigma_observation, 0},
-						 {0 , sigma_observation*sigma_observation}};
-
-	double K[4][2];
-	double H[2][4] = 	{{1, 0, 0, 0},
-						 {0, 1, 0, 0}};
-	double HT[4][2];
-	Transpose_Mat(2,4,H,HT);
-
-	double F[4][4] =	{{1, 0, dt, 0},
-						 {0, 1, 0, dt},
-						 {0, 0, 1, 0},
-						 {0, 0, 0, 1}};
-	double FT[4][4];
-	Transpose_Mat(4,4,F,FT);
-
-	while(fscanf(fichier, "%lf %lf %lf", &t, &x, &y)>0){
-		printf("-------------%04d--------------\n",cpt);
-
-		if (cpt ==0)
-		{
-			t0=t;x0=x;y0=y;
-			x=x-x0;y=y-y0;
-			Plot_Mat(F,"F = ");
-			Plot_Mat(H,"H = ");
-			Plot_Mat(R,"R = ");
-		}
-		else
-		{
-			t -= t0;x -= x0;y -= y0;
-
-			debug=0; ///Mettre à 1 pour afficher les matrices.
-			///Ajouter votre code ci-dessous///
-			// Kalman
-
-			// X = F*X
-			Plot_Mat(X," X(k+1|k) = ");
-
-			//P = F*P*F'+Q;
-			Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
-
-			// K = P*H' / ( H*P*H' + R);
-			Plot_Mat(K,"K = ");
-
-			//X = X + K*([xb(i);yb(i)]-H*X);
-			//Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
-            Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
-
-			// P = P - K*H*P;
-            Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
-
-			/// La matrice X doit contenir la position filtrée ///
-		}
-		t = cpt * dt;
-		dx = (x - oldx)/dt;
-		dy = (y - oldy)/dt;
-		fprintf(Fout,"%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n",t,x,y,sqrt(dx*dx+dy*dy)*dt,X[0][0],X[1][0],X[2][0],X[3][0],sqrt(X[2][0]*X[2][0]+X[3][0]*X[3][0])*dt);
-		oldx = x;
-		oldy = y;
-		cpt ++;
-	}
-	fclose(Fout);
-	fclose(fichier);
-
-	system ("gnuplot -p -e \"plot 'output.dat' u 5:6 w l, '' u 2:3 w l\";");
-	system ("gnuplot -p -e \"plot 'output.dat' u 1:9 w l, '' u 1:4 w l\";");
-	system ("gnuplot -p -e \"plot 'vitesse_reelle.dat' u 2 w l, 'output.dat' u 9 w l\";");
-	return 0;
-}
+//  Pour compiler : gcc sp4a3_kalman.c  -lm
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <math.h>
+
+#include "sp4a3_kalman_extra.h"
+
+
+void Add_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma])
+{
+    if(na==nb && ma==mb)
+    {
+        int i,j;
+        for(i=0; i<na; i++)
+            for(j=0; j<ma; j++)
+                out[i][j] = A[i][j] + b[i][j];
+    }
+}
+
+void Inverse_Mat_22(int n,int m,double A[n][m],double B[n][m])
+{
+    double det=0;
+    det=A[0][0]*A[1][1]-A[0][1]*A[1][0];
+
+    if(det!=0)
+    {
+        int i,j;
+        for(i=0; i<n; i++)
+        {
+            for(j=0; j<m; j++)
+            {
+                if(i==j)
+                    B[i][j]=1/det*A[(i+1)%2][(j+1)%2];
+                else
+                    B[i][j]=-1/det*A[i][j];
+            }
+        }
+    }
+}
+
+void Transpose_Mat(int n,int m,double A[n][m],double R[m][n])
+{
+    int i,j;
+    for (i=0; i<n; i++)
+        for (j=0; j<m; j++)
+            R[j][i]=A[i][j];
+}
+
+void Sub_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double b[nb][mb], double out[na][ma])
+{
+    if(na==nb && ma==mb)
+    {
+        int i,j;
+        for(i=0; i<na; i++)
+            for(j=0; j<ma; j++)
+                out[i][j] = A[i][j] - b[i][j];
+    }
+}
+
+void Mul_Mat_Mat(int na,int ma,double A[na][ma], int nb,int mb,double B[nb][mb], double out[na][mb])
+{
+
+    if(ma==nb)
+    {
+        int i,j,k;
+        for(i=0; i<na; i++)
+            for(j=0; j<mb; j++)
+            {
+                out[i][j]=0;
+                for(k=0; k<ma; k++)
+                    out[i][j] += A[i][k] * B[k][j];
+            }
+    }
+}
+
+
+
+
+void tests_unitaires(void)
+{
+    //Matrices d'entrée
+    double T21a[2][1]= {{7},{-5}};
+    double T21b[2][1]= {{-3},{46}};
+    double T22a[2][2]= {{12,78},{-5,13}};
+    double T22b[2][2]= {{-25,36},{7,42}};
+    double T24[2][4]= {{7,-71,-12,3},{41,123,-5,10}};
+    double T41a[4][1]= {{45},{-123},{-78},{-410}};
+    double T41b[4][1]= {{-10},{45},{27},{-9}};
+    double T42a[4][2]= {{-73,45},{10,12},{-41,-35},{8,-23}};
+    double T44a[4][4]= {{1,2,7,4},{6,5,7,8},{9,8,7,6},{5,4,3,2}};
+    double T44b[4][4]= {{12,13,14,15},{21,22,23,40},{78,45,12,3},{54,10,12,47}};
+
+    //Matrices résultat
+    double R21[2][1],R22[2][2],R24[2][4],R41[4][1],R42[4][2],R44[4][4];
+
+    //Matrices de validation
+    double RST21[2][1]= {{10},{-51}};
+    double RInvT22[2][2]= {{0.02380952380952381,-0.1428571428571428},{0.009157509157509158,0.02197802197802198}};
+    double RAT22[2][2]= {{-13,114},{2,55}};
+    double RTT24[4][2]= {{7,41},{-71,123},{-12,-5},{3,10}};
+    double RMT24T41[2][1]= {{8754},{-16994}};
+    double RMT24T42[2][2]= {{-705,-186},{-1478,3266}};
+    double RMT24T44[2][4]= {{-512,-425,-523,-606},{784,697,1143,1138}};
+    double RAT41[4][1]= {{35},{-78},{-51},{-419}};
+    double RMT42T21[4][1]= {{-736},{10},{-112},{171}};
+    double RMT42T22[4][2]= {{-1101,-5109},{60,936},{-317,-3653},{211,325}};
+    double RMT42T24[4][4]= {{1334,10718,651,231},{562,766,-180,150},{-1722,-1394,667,-473},{-887,-3397,19,-206}};
+    double RTT44[4][4]= {{1,6,9,5},{2,5,8,4},{7,7,7,3},{4,8,6,2}};
+    double RMT44T41[4][1]= {{-2387},{-4171},{-3585},{-1321}};
+    double RMT44T42[4][2]= {{-308,-268},{-611,-99},{-816,118},{-432,122}};
+    double RAT44[4][4]= {{13,15,21,19},{27,27,30,48},{87,53,19,9},{59,14,15,49}};
+    double RST44[4][4]= {{-11,-11,-7,-11},{-15,-17,-16,-32},{-69,-37,-5,3},{-49,-6,-9,-45}};
+    double RMT44T44[4][4]= {{816,412,192,304},{1155,583,379,687},{1146,668,466,758},{486,308,222,338}};
+
+    printf("Execution des tests unitaires.\n");
+    Transpose_Mat(2,4,T24,R42);
+    if (!Equal_Mat_Mat(RTT24,R42)) 		error("Erreur calcul Transposition 2x4");
+    Transpose_Mat(4,4,T44a,R44);
+    if (!Equal_Mat_Mat(RTT44,R44)) 		error("Erreur calcul Transposition 4x4");
+    Inverse_Mat_22(2,2,T22a,R22);
+    if (!Equal_Mat_Mat(RInvT22,R22)) 	error("Erreur calcul Inversion 2x2");
+    Add_Mat_Mat(2,2,T22a,2,2,T22b,R22);
+    if (!Equal_Mat_Mat(RAT22,R22)) 		error("Erreur calcul Addition 2x2");
+    Add_Mat_Mat(4,4,T44a,4,4,T44b,R44);
+    if (!Equal_Mat_Mat(RAT44,R44)) 		error("Erreur calcul Addition 4x4");
+    Add_Mat_Mat(4,1,T41a,4,1,T41b,R41);
+    if (!Equal_Mat_Mat(RAT41,R41)) 		error("Erreur calcul Addition 4x1");
+    Sub_Mat_Mat(2,1,T21a,2,1,T21b,R21);
+    if (!Equal_Mat_Mat(RST21,R21)) 		error("Erreur calcul Soustraction 2x1");
+    Sub_Mat_Mat(4,4,T44a,4,4,T44b,R44);
+    if (!Equal_Mat_Mat(RST44,R44)) 		error("Erreur calcul Soustraction 4x4");
+    Mul_Mat_Mat(4,4,T44a,4,4,T44b,R44);
+    if (!Equal_Mat_Mat(RMT44T44,R44)) 	error("Erreur calcul Multiplication 4x4 4x4");
+    Mul_Mat_Mat(4,4,T44a,4,1,T41a,R41);
+    if (!Equal_Mat_Mat(RMT44T41,R41)) 	error("Erreur calcul Multiplication 4x4 4x1");
+    Mul_Mat_Mat(4,4,T44a,4,2,T42a,R42);
+    if (!Equal_Mat_Mat(RMT44T42,R42)) 	error("Erreur calcul Multiplication 4x4 4x2");
+    Mul_Mat_Mat(4,2,T42a,2,1,T21a,R41);
+    if (!Equal_Mat_Mat(RMT42T21,R41)) 	error("Erreur calcul Multiplication 4x2 2x1");
+    Mul_Mat_Mat(4,2,T42a,2,2,T22a,R42);
+    if (!Equal_Mat_Mat(RMT42T22,R42)) 	error("Erreur calcul Multiplication 4x2 2x2");
+    Mul_Mat_Mat(4,2,T42a,2,4,T24,R44);
+    if (!Equal_Mat_Mat(RMT42T24,R44)) 	error("Erreur calcul Multiplication 4x2 2x4");
+    Mul_Mat_Mat(2,4,T24,4,1,T41a,R21);
+    if (!Equal_Mat_Mat(RMT24T41,R21)) 	error("Erreur calcul Multiplication 2x4 4x1");
+    Mul_Mat_Mat(2,4,T24,4,2,T42a,R22);
+    if (!Equal_Mat_Mat(RMT24T42,R22)) 	error("Erreur calcul Multiplication 2x4 4x2");
+    Mul_Mat_Mat(2,4,T24,4,4,T44a,R24);
+    if (!Equal_Mat_Mat(RMT24T44,R24)) 	error("Erreur calcul Multiplication 2x4 4x4");
+    printf("Test unitaires OK.\n");
+}
+
+int main(int argc,char **argv)
+{
+
+    tests_unitaires();
+
+    FILE* fichier = fopen("pos_t_x_y.dat","r");
+    if (fichier == NULL)
+        error("Impossible d'ouvrir le fichier GPGGA_data.dat");
+
+    FILE * Fout = Fout = fopen("output.dat","w");
+    if (fichier == NULL)
+        error("Impossible d'ouvrir le fichier output.dat");
+
+    printf("Kalman\n");
+    double t = 0;
+    double t0,x0,y0;
+    double x,y;
+    double oldx,oldy;
+    double dx=0,dy=0,dt=0.1;
+    int cpt = 0;
+
+    // kalman param
+    double sigma_etat = 10.0;
+    double sigma_observation = 2.0;
+    double X[4][1] = {{0},{0},{0},{0}};
+
+    double P[4][4] = 	{{sigma_etat*sigma_etat, 0, 0, 0},
+        {0, sigma_etat*sigma_etat, 0, 0},
+        {0, 0, 0, 0},
+        {0, 0, 0, 0}
+    };
+
+    double Q[4][4] =	{{0, 0, 0, 0},
+        {0, 0, 0, 0},
+        {0, 0, 0.1, 0},
+        {0, 0, 0, 0.1}
+    };
+
+    double R[2][2] = 	{{sigma_observation*sigma_observation, 0},
+        {0, sigma_observation*sigma_observation}
+    };
+
+    double K[4][2];
+    double H[2][4] = 	{{1, 0, 0, 0},
+        {0, 1, 0, 0}
+    };
+    double HT[4][2];
+    Transpose_Mat(2,4,H,HT);
+
+    double F[4][4] =	{{1, 0, dt, 0},
+        {0, 1, 0, dt},
+        {0, 0, 1, 0},
+        {0, 0, 0, 1}
+    };
+    double FT[4][4];
+    Transpose_Mat(4,4,F,FT);
+
+    while(fscanf(fichier, "%lf %lf %lf", &t, &x, &y)>0)
+    {
+        printf("-------------%04d--------------\n",cpt);
+
+        if (cpt ==0)
+        {
+            t0=t;
+            x0=x;
+            y0=y;
+            x=x-x0;
+            y=y-y0;
+            Plot_Mat(F,"F = ");
+            Plot_Mat(H,"H = ");
+            Plot_Mat(R,"R = ");
+        }
+        else
+        {
+            t -= t0;
+            x -= x0;
+            y -= y0;
+
+            debug=1; ///Mettre à 1 pour afficher les matrices.
+            ///Ajouter votre code ci-dessous///
+            // Kalman
+
+            // X = F*X
+            Mul_Mat_Mat(4, 4, F, 4, 1, X, X);
+            Plot_Mat(X," X(k+1|k) = ");
+
+            //P = F*P*F'+Q;
+            double FP[4][4];
+            double FPFT[4][4];
+
+            Mul_Mat_Mat(4, 4, F, 4, 4, P, FP);
+            Mul_Mat_Mat(4, 4, FP, 4, 4, FT, FPFT);
+            Add_Mat_Mat(4, 4, FPFT, 4, 4, Q, P);
+
+            Plot_Mat(P,"P(k+1|k) = F.P(k|k).FT + Q = ");
+
+            // K = P*H' / ( H*P*H' + R);
+            double PHT[4][2];
+            double HP[2][4];
+            double HPHT[2][2];
+            double denom[2][2];
+            double inv_denom[2][2];
+
+            Mul_Mat_Mat(4, 4, P, 4, 2, HT, PHT);
+            Mul_Mat_Mat(2, 4, H, 4, 4, P, HP);
+            Mul_Mat_Mat(2, 4, HP, 4, 2, HT, HPHT);
+            Add_Mat_Mat(2, 2, HPHT, 2, 2, R, denom);
+            Inverse_Mat_22(2, 2, denom, inv_denom);
+            Mul_Mat_Mat(4, 2, PHT, 2, 2, inv_denom, K);
+
+            Plot_Mat(K,"K = ");
+
+            //X = X + K*([xb(i);yb(i)]-H*X);
+            double HX[2][1];
+            double obs[2][1];
+            double temp[2][1];
+            double Ktemp[4][1];
+
+            obs[0][0]=x;
+            obs[1][0]=y;
+
+            Mul_Mat_Mat(2, 4, H, 4, 1, X, HX);
+            Sub_Mat_Mat(2, 1, obs, 2, 1, HX, temp);
+            Mul_Mat_Mat(4, 2, K, 2, 1, temp, Ktemp);
+            Add_Mat_Mat(4, 1, X, 4, 1, Ktemp, X);
+
+            //Plot_Mat(Delta,"DELTA = Obs - H.X(k+1|k)");
+            Plot_Mat(X," X(k+1|k+1) = X(k+1|k) + K.Delta = ");
+
+            // P = P - K*H*P;
+            double KH[4][4];
+            double KHP[4][4];
+
+            Mul_Mat_Mat(4, 2, K, 2, 4, H, KH);
+            Mul_Mat_Mat(4, 4, KH, 4, 4, P, KHP);
+            Sub_Mat_Mat(4, 4, P, 4, 4, KHP, P);
+
+            Plot_Mat(P," P(k+1|k+1) = P(k+1|k) - K.H.P(k+1|k) = ");
+
+            /// La matrice X doit contenir la position filtrée ///
+        }
+        t = cpt * dt;
+        dx = (x - oldx)/dt;
+        dy = (y - oldy)/dt;
+        fprintf(Fout,"%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n",t,x,y,sqrt(dx*dx+dy*dy)*dt,X[0][0],X[1][0],X[2][0],X[3][0],sqrt(X[2][0]*X[2][0]+X[3][0]*X[3][0])*dt);
+        oldx = x;
+        oldy = y;
+        cpt ++;
+    }
+    fclose(Fout);
+    fclose(fichier);
+
+    system ("gnuplot -p -e \"plot 'output.dat' u 5:6 w l, '' u 2:3 w l\";");
+    system ("gnuplot -p -e \"plot 'output.dat' u 1:9 w l, '' u 1:4 w l\";");
+    system ("gnuplot -p -e \"plot 'vitesse_reelle.dat' u 2 w l, 'output.dat' u 9 w l\";");
+    return 0;
+}
