  import numpy as np
  from bisect import bisect_right
  import cereal.messaging as messaging
  from selfdrive.swaglog import cloudlog
  from cereal.services import service_list
  from common.transformations.orientation import rotations_from_quats, ecef_euler_from_ned, euler2quat, ned_euler_from_ecef, quat2euler
  import common.transformations.coordinates as coord
  
  import laika.raw_gnss as gnss
  from laika.astro_dog import AstroDog
 
</s> remove import laika.raw_gnss as gnss
from laika.astro_dog import AstroDog

from selfdrive.locationd.kalman.loc_kf import LocKalman
 </s> add from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag </s> remove 
class LiveKalman():
  def __init__(self, N=0, max_tracks=3000):
    x_initial = np.array([-2.7e6, 4.2e6, 3.8e6,
                          1, 0, 0, 0,
                          0, 0, 0,
                          0, 0, 0,
                          0, 0, 0,
                          1,
                          0, 0, 0,
                          0, 0, 0])

    # state covariance
    P_initial = np.diag([10000**2, 10000**2, 10000**2,
 </s> add initial_x = np.array([-2.7e6, 4.2e6, 3.8e6,
                       1, 0, 0, 0,
                       0, 0, 0,
                       0, 0, 0,
                       0, 0, 0,
                       1,
                       0, 0, 0,
                       0, 0, 0])


# state covariance
initial_P_diag = np.array([10000**2, 10000**2, 10000**2, </s> remove     self.filter = EKF_sym(name, Q, x_initial, P_initial, self.dim_state, self.dim_state_err)
 </s> add     self.filter = EKF_sym(name, Q, initial_x, np.diag(initial_P_diag), self.dim_state, self.dim_state_err)
  import numpy as np
  from bisect import bisect_right
  import cereal.messaging as messaging
  from selfdrive.swaglog import cloudlog

  from common.transformations.orientation import rotations_from_quats, ecef_euler_from_ned, euler2quat, ned_euler_from_ecef, quat2euler
  import common.transformations.coordinates as coord
  
  import laika.raw_gnss as gnss
  from laika.astro_dog import AstroDog
keep keep keep keep replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py