I'm implementing navigation system for my robot. There are two ways to get data from it: odometry(encoders from motors) and camera. Both of information sources can give me estimate of robot's position. But camera has very big noise. I've found that it is useful to use Kalman filter. After some literature looking I have a questions:
How to use kalman filter with adding measurement noise $v(k)$? $$x(k+1) = F(k)x(k-1)+B(k)u(k)+w(k)$$ $$ z(k) = H(k)x(k)+v(k)$$
How to make "coefficient of trust" for camera measurements in Kalman gain very low (because of very very high camera noise)? (Probably is it needed to make specific Q or R matrix?)
I would appreciate any help. Thanks.