modelling multi dimensional data

[ghost]

Hi, sorry this is more of a query than an issue. I am hoping to use Standard Nonlinear Model for filtering/smoothing 2d indoor positional coordinates. I have the corresponding blueprint map as well. Would modelling x & y (coordinates) separately make sense as current implementation seem to work-with/simulate only 1d data? also not sure how to include landmark info at each step. Many thanks!
P.S. thanks for your wonderful work and amazing explanation.