Implementation of kalman filter and skyline query for moving objects velocities, positions and directions computation

I have a software made in c++, that generate moving objects(airplane, cars, ships) with some parameters such as velocity, acceleration, position and direction. At the initial time the generation is performed randomly using a probability distribution. I would like to be able to determine the next velocities, positions and directions of the objects after the initial time by using kalman filter and skyline query.