Design of an extended kalman filter - repost

Design of an extended Kalman filter for an underwater vehicle. I need the extended Kalman filter to process the range (the distance ) and bearings (the angle) data which are in polar co-ordinates to give me the Cartesian co-ordinates x and y i.e the position of the underwater vehicle. Since the Ultra Short Baseline system gives range and bearing (R and θ (theta)). Also the reading are corrupted with noise so the design of the filter should be such that it reduces the noise and gives accurate position of the vehicle. I have added a file for reference. Will elaborate more once the project is hired.