The notebooks ekf_vs_ukf.ipynb and ekf_vs_ukf_robust_test.ipynb contains the code for the blog post:
https://blogjtr.com/posts/ekf-vs-ukf/
Under filter folder are available implementations of UKF and EKF in addition to motion models and measurement functions
The simulation folder contains functions to generate a simulated scenario and produce measurements either in polar or cartesian emulating a radar-like sensor.