Truth & sensors
true altitude 1500 m
σ radar 2.0 m
σ barometer 10.0 m
bias radar 0.0 m
bias barometer 0.0 m
Fusion weight & display
wradar 0.962

Drag wradar and watch the fused PDF widen as you move away from the inverse-variance optimum. The variance-vs-weight curve below traces σfused across all possible weight choices — the dot marks where you are; the dashed vertical line marks the optimum.

Radar PDF (N(μR, σR²)) Baro PDF Fused PDF truth
σfused(wradar) optimal weight σradar reference σbaro reference
σfused (your weight)
opt: —
Information I = 1/σ²
I_R=— · I_B=—
Fused estimate vs truth
μ_fused − truth