procedure HmWk1 is
     ----------------------------------------------------------------------
     ----------------------------------------------------------------------
       N0    :  constant float := 2.0e-3;       -- std of measurement error
       Q0    :  constant float := 1.0e-3;       -- std of model error
       X_hat :  Matrix_Type := Zero ( 3*N, 1 ); -- State vector
       XPRD  :  Matrix_Type := Zero ( 3*N, 1 ); -- prediction error
       P     :  Matrix_Type := Identity ( 3 * N ); -- initial variance of pred. error
       Q     :  Matrix_Type
     begin

     end HmWK1;