Forecast horizon
State dimension
Predicted state means [h, m].
Predicted state covariances [h, m, m].
Predicted state std devs [h, m] = sqrt(diag(predictedCov)).
Predicted observation means (length h). yhat[k] = F · predicted state at step k+1.
Predicted observation std devs (length h). ystd[k] = sqrt(F·C·F' + s²). Monotonically increasing.
Result from dlmForecast: h-step-ahead predictions with uncertainty. Uses StateMatrix and CovMatrix for predicted state trajectories.