Observations (n×1 array)
Observation noise standard deviation: scalar (same for all timesteps) or array of length n (per-observation sigma, e.g. satellite uncertainty)
State noise standard deviations (diagonal of sqrt(W))
Computation precision (default: Float64)
Model specification (default: order=1, no seasonal)
OptionalX: ArrayLike<number>[]Optional covariate matrix (n rows × q cols); each row is X[t,:]
OptionalforceAssocScan: booleanComplete model fit with smoothed estimates and diagnostics
Fit a Dynamic Linear Model (DLM).
Implements a two-pass estimation procedure:
Model components are determined by the options parameter:
When X is provided (n×q covariate matrix), the observation equation becomes: y(t) = F_base·x(t) + X[t,:]·β + v
The β coefficients are appended to the state vector as static states (identity evolution, zero process noise), matching the MATLAB DLM convention.
System matrices G and F are generated by dlmGenSys(). State noise covariance W = diag(w[0]², w[1]², ...) with zeros for states beyond w.length.