final ProcessModel pm = new DefaultProcessModel(A, B, Q, initialState, initialErrorCovariance);
final MeasurementModel mm = new DefaultMeasurementModel(H, R);
final KalmanFilter filter = new KalmanFilter(pm, mm);
final RandomGenerator rng = new Well19937c(1000);
final NormalDistribution dist = new NormalDistribution(rng, 0, measurementNoise);
for (int i = 0; i < iterations; i++) {
// get the "real" cannonball position
double x = cannonball.getX();