Kalman Filter in Kotlin

/* Kalman Filter */
var Qvalue: Float = 3.0f

val locationTimeInMillis = location.elapsedRealtimeNanos / 1000000
val elapsedTimeInMillis = locationTimeInMillis - runStartTimeInMillis

if (currentSpeed == 0.0f) {
    Qvalue = 3.0f //3 meters per second
} else {
    Qvalue = currentSpeed // meters per second
}

kalmanFilter.Process(location.latitude, location.longitude, location.accuracy, elapsedTimeInMillis, Qvalue)
val predictedLat = kalmanFilter.get_lat()
val predictedLng = kalmanFilter.get_lng()

val predictedLocation = Location("")//provider name is unecessary
predictedLocation.latitude = predictedLat//your coords of course
predictedLocation.longitude = predictedLng
val predictedDeltaInMeters = predictedLocation.distanceTo(location)

if (predictedDeltaInMeters > 60) {
    Log.d(LOG_TAG, "Kalman Filter detects mal GPS, we should probably remove this from track")
    kalmanFilter.consecutiveRejectCount += 1

    if (kalmanFilter.consecutiveRejectCount > 3) {
        kalmanFilter = KalmanLatLong(3f) //reset Kalman Filter if it rejects more than 3 times in raw.
    }

    kalmanNGLocationList.add(location)
    return false
} else {
          kalmanFilter.consecutiveRejectCount = 0
}