{
  "model_assumptions": {
    "F": 1,
    "H": 1,
    "control": 0,
    "Q_per_step": 1,
    "R": 4,
    "initial_mean": 10,
    "initial_variance": 4,
    "zero_mean_independent_process_and_measurement_noise_assumed": true,
    "actual_noise_parameters_estimated": false
  },
  "predict_then_update_trace": [
    {
      "z": "12",
      "prior_x": "10",
      "prior_P": "5",
      "innovation": "2",
      "S": "9",
      "K": "5/9",
      "posterior_x": "100/9",
      "posterior_P": "20/9",
      "measurement_used": true
    },
    {
      "z": null,
      "prior_x": "100/9",
      "prior_P": "29/9",
      "innovation": null,
      "S": null,
      "K": null,
      "posterior_x": "100/9",
      "posterior_P": "29/9",
      "measurement_used": false
    },
    {
      "z": "11",
      "prior_x": "100/9",
      "prior_P": "38/9",
      "innovation": "-1/9",
      "S": "74/9",
      "K": "19/37",
      "posterior_x": "409/37",
      "posterior_P": "76/37",
      "measurement_used": true
    }
  ],
  "same_first_measurement_lower_R": {
    "z": "12",
    "prior_x": "10",
    "prior_P": "5",
    "innovation": "2",
    "S": "6",
    "K": "5/6",
    "posterior_x": "35/3",
    "posterior_P": "5/6",
    "measurement_used": true
  },
  "same_first_measurement_higher_R": {
    "z": "12",
    "prior_x": "10",
    "prior_P": "5",
    "innovation": "2",
    "S": "14",
    "K": "5/14",
    "posterior_x": "75/7",
    "posterior_P": "45/14",
    "measurement_used": true
  },
  "rejected_by_own_variance_contract": [
    "negative_P",
    "negative_Q",
    "zero_R_outside_own_subset"
  ],
  "FilterPy_or_real_signal_filtering_executed": false
}