private boolean filterAndAddLocation(Location location){

    long age = getLocationAge(location);

    if(age > 10 * 1000){ //more than 10 seconds
        Log.d(TAG, "Location is old");
        oldLocationList.add(location);
        return false;
    }

    if(location.getAccuracy() < 0){
        Log.d(TAG, "Latitidue and longitude values are invalid.");
        noAccuracyLocationList.add(location);
        return false;
    }

    //setAccuracy(newLocation.getAccuracy());
    float horizontalAccuracy = location.getAccuracy();
    if(horizontalAccuracy > 100){
        Log.d(TAG, "Accuracy is too low.");
        inaccurateLocationList.add(location);
        return false;
    }


    /* Kalman Filter */
    float Qvalue;

    long locationTimeInMillis = (long)(location.getElapsedRealtimeNanos() / 1000000);
    long elapsedTimeInMillis = locationTimeInMillis - runStartTimeInMillis;

    if(currentSpeed == 0.0f){
        Qvalue = 3.0f; //3 meters per second
    }else{
        Qvalue = currentSpeed; // meters per second
    }

    kalmanFilter.Process(location.getLatitude(), location.getLongitude(), location.getAccuracy(), elapsedTimeInMillis, Qvalue);
    double predictedLat = kalmanFilter.get_lat();
    double predictedLng = kalmanFilter.get_lng();

    Location predictedLocation = new Location("");//provider name is unecessary
    predictedLocation.setLatitude(predictedLat);//your coords of course
    predictedLocation.setLongitude(predictedLng);
    float predictedDeltaInMeters =  predictedLocation.distanceTo(location);

    if(predictedDeltaInMeters > 60){
        Log.d(TAG, "Kalman Filter detects mal GPS, we should probably remove this from track");
        kalmanFilter.consecutiveRejectCount += 1;

        if(kalmanFilter.consecutiveRejectCount > 3){
            kalmanFilter = new KalmanLatLong(3); //reset Kalman Filter if it rejects more than 3 times in raw.
        }

        kalmanNGLocationList.add(location);
        return false;
    }else{
        kalmanFilter.consecutiveRejectCount = 0;
    }

    /* Notifiy predicted location to UI */
    Intent intent = new Intent("PredictLocation");
    intent.putExtra("location", predictedLocation);
    LocalBroadcastManager.getInstance(this.getApplication()).sendBroadcast(intent);

    Log.d(TAG, "Location quality is good enough.");
    currentSpeed = location.getSpeed();
    locationList.add(location);


    return true;
}