diff --git a/examples/gps_fusion.py b/examples/gps_fusion.py
index 770c7fb..a88d1a4 100644
--- a/examples/gps_fusion.py
+++ b/examples/gps_fusion.py
@@ -16,6 +16,7 @@ def run(kalman_filter_t):
     x_actual      = np.zeros([n_iterations, 2])
     x_kalman      = np.zeros([n_iterations, 2])
     x_measurement = np.zeros([n_iterations, 2])
+    P_kalman      = np.zeros([n_iterations, 2])
 
 
     # Kalman Filter parameter definition
@@ -45,18 +46,26 @@ def run(kalman_filter_t):
         x_actual[i]      = np.dot(F, x_actual[i-1])
         x_kalman[i]      = f.x
         x_measurement[i] = measurement
+        P_kalman[i]      = [f.P[0,0], f.P[1,1]]
 
 
     # Show results
 
+    #print(P_kalman[:, 0])
 
     def update(disp, t):
-        disp.move_object("test", [x_kalman[:, 0][t], 0])
-        disp.set_circle_radius("test", t*0.2)
+        disp.move_object("measurement", [x_measurement[:, 0][t], 0])
+        disp.set_circle_radius("measurement", std_dist[0])
+        disp.move_object("estimate", [x_kalman[:, 0][t], 0])
+        disp.set_circle_radius("estimate", P_kalman[:,0][t])
+        disp.move_object("ground_truth", [x_actual[:, 0][t], 0])
+        disp.set_circle_radius("ground_truth", 0)
 
-    disp = Displayer(width=6, height=6, frame_interval=50)
+    disp = Displayer(width=6, height=6, frame_interval=100)
 
     disp.set_axis_limits(xlim=[0, 1000], ylim=[-500, 500])
-    disp.register_object("test", "red")
+    disp.register_object("measurement", "red")
+    disp.register_object("estimate", "blue")
+    disp.register_object("ground_truth", "green")
 
     disp.animate(n_steps=n_iterations, anim_callback=update)
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