I need a tracking algorithm in matlab using Extended Kalman filter With the coordinates that i have -- 2

basically i am implementing a tracking algorithm using extended kalman filter in matlab of some data in range and azimuth which i have converted in x and y [login to view URL] is error in the measurement values of 0.3 in azimuth and 80 meter in range ,i need basically to first initiate ,associate and smooth that data using extended kalman filter,so that the estimated values are more close to the true path then the measured one. I am uploading 2 [login to view URL],these files have different coordinates which are needed to be tracked and smooth,the coordinate are written in,X-true_total and Y_true_total. the job is basically to make the estimated more close ,i.e less error then the measured one. the first one is easy as compared to 2nd one