true range 0.5 m: reported-minus-true at 0 degC 1.8 cm, at 35 degC -1.2 cm
true range 2.0 m: reported-minus-true at 0 degC 7.2 cm, at 35 degC -4.9 cm
true range 4.0 m: reported-minus-true at 0 degC 14.4 cm, at 35 degC -9.9 cm
speed of sound at 0 degC: 331.30 m/s
speed of sound at 10 degC: 337.31 m/s
speed of sound at 20 degC: 343.21 m/s
speed of sound at 30 degC: 349.02 m/s
speed of sound at 40 degC: 354.73 m/s
relative range error per degC near 20 degC: 0.1704 percent
naive speed from differencing: std 0.145 m/s (theory sqrt2 sigma/dt = 0.141); Kalman speed error after 5 s: rms 0.0201 m/s
steady state (Riccati): position std 0.697 cm ; velocity std 0.0356 m/s ; gains [0.4861 1.603 ]
raw position error std (cm) 1.0  Kalman position rms error after 5 s (cm) 0.645
saved /home/user/Documents/DOCUMENTS_SERVER/SKILL_TRAINING/Internet of Things (IoT) and Robotics/sessions/010-unit10-perception/figures/fig04_range_cv.png
300 runs after 5 s: speed rms error 0.0192 m/s ; position rms error 0.635 cm (the filter assumes acceleration noise 0.05, the true motion has none, so its reported 0.0356 m/s is conservative)
