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A Kalman filter package has been developed for reconstructing muon($\mu^\pm$) tracks (coming from the neutrino interactions) in ICAL detector.Here, we describe the algorithm of muon track fitting, with emphasis on theerror propagation of the elements of Kalman state vector along the muontrajectory through dense materials and inhomogeneous magnetic field. The higherorder correction terms are included for reconstructing muon tracks at largezenith angle $\theta$ (measured from the perpendicular to the detector planes).The performances of this algorithm and its limitations are discussed.

Error Propagation of the Track Model and Track Fitting Strategy for the Iron CALorimeter Detector in India-based Neutrino Observatory