pan><span class="va">x</span><span class="op">[</span><span class="fl">1</span><span class="op">]</span>, <span class="fl">1e-1</span><span class="op">*</span><span class="fu"><a href="https://rdrr.io/r/base/diag.html" class="external-link">diag</a></span><span class="op">(</span><span class="fl">1</span><span class="op">)</span><span class="op">)</span><span class="op">)</span></span>
<span></span>
<span><span class="co"># Carry out estimation with default settings (extended kalman filter)</span></span>
<s