% draw the axis 
function setaxis
MV=findobj(gcf,'tag','axis');%menu Axis Limit
m=get(MV,'userdata');

T=findobj(gcf,'tag','p');
t=get(T,'userdata');

col=get(findobj(gcf,'tag','color'),'userdata');
set(gca,'Position',[.11 .2 .62 .6],'color',col);
set(gca,'xlim',[m(1) m(2)],'ylim',[m(3) m(4)]);
title({'Kalman Filtering Output',''});
xlabel('Time(s)');
if t==1
    ylabel('1\sigma Error');
else
    ylabel('State Estimation');
end

gri=get(findobj(gcf,'tag','grid'),'userdata');
if gri 
    grid on
else
    grid off
end


hold on
box on