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diff --git a/src/main/java/org/apache/commons/math3/filter/MeasurementModel.java b/src/main/java/org/apache/commons/math3/filter/MeasurementModel.java
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+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.commons.math3.filter;
+
+import org.apache.commons.math3.linear.RealMatrix;
+
+/**
+ * Defines the measurement model for the use with a {@link KalmanFilter}.
+ *
+ * @since 3.0
+ */
+public interface MeasurementModel {
+    /**
+     * Returns the measurement matrix.
+     *
+     * @return the measurement matrix
+     */
+    RealMatrix getMeasurementMatrix();
+
+    /**
+     * Returns the measurement noise matrix. This method is called by the {@link KalmanFilter} every
+     * correction step, so implementations of this interface may return a modified measurement noise
+     * depending on the current iteration step.
+     *
+     * @return the measurement noise matrix
+     * @see KalmanFilter#correct(double[])
+     * @see KalmanFilter#correct(org.apache.commons.math3.linear.RealVector)
+     */
+    RealMatrix getMeasurementNoise();
+}