Assumed measurement distributions for the motivating example. Measurement distribution resulting from (a) separate modelling of measurement time uncertainties and measurement value uncertainties, with σ
=0.005, and (b-d) lumped time-and-value uncertainties with several different assumed lumped measurement variances σ
. The dashed dark-green line depicts the nominal evolution of the state q over time. The green shaded area depicts the region where the measurements are expected.