diff --git a/matlab/scripts/Inertial Nav EKF/polar2cart_cov.m b/matlab/scripts/Inertial Nav EKF/polar2cart_cov.m
new file mode 100644
index 0000000000..bfb0bc6108
--- /dev/null
+++ b/matlab/scripts/Inertial Nav EKF/polar2cart_cov.m	
@@ -0,0 +1,8 @@
+clear all;
+syms spd yaw real;
+syms R_spd R_yaw real;
+vx = spd*cos(yaw);
+vy = spd*sin(yaw);
+Tpc = jacobian([vx;vy],[spd;yaw]);
+R_polar = [R_spd 0;0 R_yaw];
+R_cartesian = Tpc*R_polar*Tpc';
\ No newline at end of file