function [mu,sigma] = Kalman_1D(mu_1,sigma_1,u,z,A,B,R,C,Q)
%

mu_hat = A*mu_1 + B*u;
sigma_hat = A*sigma_1*A + normal_1D(0,R);

K = sigma_hat*C*(C*sigma_hat*C + Q)^(-1);
mu = mu_hat + K*(z-C*mu_hat);
sigma = (1-K*C)*sigma_hat;
