You’re pointing out a real conceptual issue: where the system model ends and where the Kalman filter begins.

In Kalman filter theory there are two different components:

- The system model

- The Kalman filter (the algorithm)

The state transition and measurement equations belong to the system model. They describe the physics of the system and can vary from one application to another.

The Kalman filter is the algorithm that uses this model to estimate the current state and predict the future state.

I'll consider making that distinction more explicit when introducing the equations. Thanks for pointing this out.

This reads like chatgpt.