how to use kalman filter

I have a scenario in which I have a path whose starting and ending point (in lat,long) is given through which the path is drawn on matlab. Now I have induced some error in the distance (in right left direction) and in the angle from starting point due to which I get 5 different paths. So I want to find the optimum path using kalman filter. Can anybody help? It will be much appreciated. Just give any algorithm to find the best optimum path.

[Curious]

I have studied the matlab documentries but couldn't get help because in that examples it involves speed and time calculations which I have nothing to do with my program. so