code: def make_ca_filter(dt, noise_factor):
      cafilter = KalmanFilter(dim_x=3, dim_z=1)
      cafilter.x = array([0.0, 0.0, 0.0])
      cafilter.P *= 3
      cafilter.R *= noise_factor**2
      cafilter.Q = Q_discrete_white_noise(dim=3, dt=dt, var=0.02)
      cafilter.F = array(
          [[1, dt, 0.5 * dt * dt], [0, 1, dt], [0, 0, 1]], dtype=float
      )
      cafilter.H = array([[1, 0, 0]], dtype=float)
      return cafilter
  
imports: from __future__ import absolute_import, division, print_function, unicode_literals
  from math import sin, cos, radians
  import numpy.random
  import numpy
  from numpy import array
  from numpy.random import randn
  import matplotlib.pyplot
  from filterpy.kalman import IMMEstimator, KalmanFilter
  from filterpy.common import Q_discrete_white_noise, Saver
label_desc: Use image node_id 3 for calling a global function with example usage: make_ca_filter(dt, noise_factor) and returns: cafilter