The document studies the role of the measurement noise covariance matrix (R) and process noise covariance matrix (Q) in the Kalman filter. It evaluates the performance of the Kalman filter with different adaptations to Q and R. The estimation is performed for different values of Q and R to see how they affect the estimation accuracy and difference from the true value. Plots of estimation error are generated for different Q and R values. The results show that increasing Q leads to faster responses but less accurate estimates, while increasing R leads to slower responses but smaller errors. The values of Q and R must be determined properly for the Kalman filter to converge optimally.