diff --git a/mr/ub9/loc_framework/ukf_correction.m b/mr/ub9/loc_framework/ukf_correction.m
index ea3677f..0c194d2 100644
--- a/mr/ub9/loc_framework/ukf_correction.m
+++ b/mr/ub9/loc_framework/ukf_correction.m
@@ -2,9 +2,28 @@
 %UKF_CORRECTION UKF correction step
 
 % YOUR CODE STARTS HERE:
+[X,w]=ukf_sigma_points(pred_mean,pred_cov);
+%Sm= rowfun(motion,S) % By default, rowfun returns the first output of func
+%wie bring ich hier das u unter?
+Z=zeros(size(z,1),size(X,2));
+for i =1:size(X,2)
+    a=measurement(X(:,i));
+    Z(:,i)= a(1);
+end
+[expX,covX]=ukf_estimate_normal( X, w );
+[expZ,CovOfIn]=ukf_estimate_normal( Z, w );
+CovOfIn = CovOfIn+Q;
 
-mean = pred_mean;
-cov = pred_cov;
+CrossCov = zeros(size(X,1),size(z,1));
+for i =1:size(X,2)
+    CrossCov = CrossCov+ w(i)*(X(:,i)-expX)*(Z(:,i)-expZ)';
+end
+
+K= CrossCov*inv(CovOfIn);
+mean= expX+K*(z-expZ);
+cov= covX * K*CovOfIn*K';
+
+
 
 % YOUR CODE ENDS HERE:
 
diff --git a/mr/ub9/loc_framework/ukf_estimate_normal.m b/mr/ub9/loc_framework/ukf_estimate_normal.m
index 923bce5..e183e93 100644
--- a/mr/ub9/loc_framework/ukf_estimate_normal.m
+++ b/mr/ub9/loc_framework/ukf_estimate_normal.m
@@ -9,9 +9,18 @@
 
 % YOUR CODE STARTS HERE:
 
-mu = zeros(dim,1);
+%mu = zeros(dim,1);
+
+mu=S*w;
+
+
 cov = zeros(dim,dim);
 
+for i =1:n
+    cov = cov+ w(i)*(S(:,i)-mu)*(S(:,i)-mu)';
+end
+    
+
 % YOUR CODE END HERE:
 
 end
diff --git a/mr/ub9/loc_framework/ukf_prediction.m b/mr/ub9/loc_framework/ukf_prediction.m
index 54ebfe6..2a25d6a 100644
--- a/mr/ub9/loc_framework/ukf_prediction.m
+++ b/mr/ub9/loc_framework/ukf_prediction.m
@@ -3,8 +3,16 @@
 
 % YOUR CODE STARTS HERE:
 
-newmean = mean;
-newcov = cov;
+[S,w]=ukf_sigma_points(mean,cov);
+%Sm= rowfun(motion,S) % By default, rowfun returns the first output of func
+%wie bring ich hier das u unter?
+Sm=zeros(size(S));
+for i =1:size(S,2)
+    a=motion(S(:,i),u);
+    Sm(:,i)= a(1);
+end
+[newmean,newcov]=ukf_estimate_normal( Sm, w );
+newcov = newcov+R;
 
 % YOUR CODE ENDS HERE:
 
diff --git a/mr/ub9/loc_framework/ukf_sigma_points.m b/mr/ub9/loc_framework/ukf_sigma_points.m
index 20aaadd..9624a93 100644
--- a/mr/ub9/loc_framework/ukf_sigma_points.m
+++ b/mr/ub9/loc_framework/ukf_sigma_points.m
@@ -20,6 +20,18 @@
 
 % YOUR CODE STARTS HERE
 
+S(:,1)=mu;
+w(1)=1/3;
+w(2:n)=(1-w0)/(2*n);
+
+RootN= sqrt(n/(1-w0))*sqrtm(cov);
+RootN2= sqrt(n/(1-w0))*sqrtm(cov);
+for i =2:nx
+    S(:,i) = mu+RootN(:,i);
+    S(:,i+nx) = mu-RootN2(:,i);
+end  
+
+
 % YOR CODE ENDS HERE
 
 end