diff --git a/matlab/create_good_ordering.m b/matlab/create_good_ordering.m
new file mode 100644
index 000000000..aeb119e1f
--- /dev/null
+++ b/matlab/create_good_ordering.m
@@ -0,0 +1,17 @@
+% Christian Potthast
+% create an elimination ordering
+
+function ord = create_good_ordering(n,m,measurements)
+
+ord = Ordering();
+j=1;
+pose=1;
+mes=size(measurements,2);
+while (pose<=m)&&(j<=mes)
+    ord.push_back(sprintf('x%d',pose));
+    while (j<n)&&(measurements{j}.i==pose)
+        ord.push_back(sprintf('m%d',j));
+        j=j+1;
+    end
+    pose=pose+1;
+end
\ No newline at end of file