KALMAN FILTER noise data

Hello I want to design a kalman filter for a plant and I used white the gaussian noise block for process and measurement noises(v & w).The problem is that I dont know how to compute Qn,Rn and in the command : [kest,L,P] = kalman(sys,Qn,Rn,Nn) Regarding that its written as E(wwT),E(vvT) & E(vw) in matlab help,are they Covariance or Expected Values? And how can I calculate them? Can anyone help me?

Thanks

Answer 1

[Youssef Khmou]

hi Mojtaba

you can take a look at my submission :

http://www.mathworks.com/matlabcentral/fileexchange/38353-1d-standard-kalman-filter-simulink-model-program