noise in the system if there's no noise then over time it'll nail the state but because there is noise in this simulation because noise on the observations noise in the dynamics you can never perfectly know the state because you never get access to it all you get is noisy measurements but we will see that over time the common filter will converge to a kind of fixed variance a fixed expected squared error around the state you'll get that kind of convergence but we won't converge to the actual state per se any questions about