Localization of Wheeled Robot

I am working on localization of wheeled robot using Extended kalman filter. In simulation, I want to take random value of robot wheel. Also I want to show angle on a each coordinate frame in figure of estimation.

How can I do that? Can anyone help me?

[mohamad al-zamel]

Yes you can do that by using the Extended kalman filter ... But first you define you state ... transition function and measurement function .. then follow the EKF algorithm you will get a nice result ... Pay attention of how to choose your measurement ...