State errors use every original endpoint, held until the next recorded prediction and any correction. Steps extend to the window edges; no estimator restarts at the window boundary. State uncertainty is recorded after prediction and any correction. The band shows ±2 model standard deviations about zero; it does not guarantee accuracy.

Innovations and their covariance describe the prior before correction. Points appear only at recorded arrivals in the window; no new value is created between corrections. A latest innovation from before the window can appear in the readout, explicitly labelled as not plotted.

Full-run mean NIS includes startup and does not change with this window. The angle KF has one measurement dimension; the vector EKF has two. Their ideal-model means differ, so their raw NIS values are not a shared lower-is-better score. Neither individual values nor the displayed mean establish statistical consistency.

Use the shared time slider, move across a plot, or step between corrections. Plot scales fit the window, including all its values; RMSE, mean NIS and repeated-trial scores continue to describe their full runs.