Hi, I am working on Kalman filter please help me in correcting the program code...

Code Visual Basic - [expand]
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clc; 
clear all; 
close all; 
load handel.mat
filename = 'handel.wav';
[x, fs]=audioread('handel.wav');
 
 p=20; % order taken in papera
 
 lp=p;
 lp1=lp+1;
 [a g]=lpc(x,p); % finding lpc , prediction filter polynomial a , p is the order p=15
 I = eye(lp,lp);
 i= zeros(lp,1);
 
 
 ppi = [i I];
 pi =[ppi;a];
 xf=x(1:p+1);
 
 G=zeros(1,p);
 G=[G,1]';
 u=sqrt(.1)*rand(size(x)); % adding a random Gaussian noise eqn  noissy
  H=zeros(1,p);
 H=[H,1];
 y1=x+ u;
 no=y1; 
 NN=length(x);
Q= 0.000001;
 XX = zeros (lp1, NN);
 P = 10*eye (lp1,lp1);
 y=y1;
 R=.1;
sound(x,Fs )
pause(size(x,1)/Fs);
sound(no,Fs)
pause(size(no,1)/Fs);
i=1;w=.00001*randn(21,1);
x_k=x(1:lp+1,1);
p_k=x_k;
 for k=lp+2:NN
pravi=pi*p_k+Q;
Pk=pi*P*pi'+G*Q*G';
Kk=Pk*H'*(inv(H*Pk*H'+R));
p_k=pravi+Kk*(y(k-1)-H*pravi);
I=eye(lp1,lp1);
Pk_k=(I-(Kk*H))*Pk;
M(i)=Pk_k(1,1);
kavi=p_k;
kavi1(i:lp+i)=kavi;
i=i+1;
 end
 kavi2=kavi1';
 sound(kavi2,Fs)
figure;
plot(kavi2,'r')
hold on
% x=x(1:lp1)
plot(x,'g- ')  
legend('estimated' , 'input ')
figure;
plot(x,'g'); 
title ('ORIGINAL SIGNAL'); 
 axis([0,200,-1,1])
hold on
plot(no,'r'); 
title ('Noisy Speech Signal'); 
axis([0,200,-1,1])
hold on
plot(kavi2); 
title ('ESTIMATED SIGNAL'); 
axis([0,200,-1,1])