function [meanPred,covPred]= kalPredMD(meanPos,covPos,A,Q)
% multidimensional prediction step of kalman filter
siz=size(covPos);
 meanPred = mmx('mult',A,meanPos); %A*x
 covPred = mmx('mult',mmx('mult',A,covPos), A')+repmat(Q,[1,1 ,siz(3:end)]); %A*P*A' + Q
        