I am trying to use the Unscented Kalman Filter block in my Simulink model. My state transition function and my measurement function have each noise (Equations are attached as a picture). I am not sure, how to include those noise to the Unscented Kalman Filter block. One can add the noise by typing those in to the Kalman filter block (first screenshot) or add those as the w[k] or v[k] variables to the state equation and to the measurement equation (secound screenshot). Unfortunately, the matlab documentation does not tell, wheter both options have the same functionality. Can someone please give me some advice and tell which option I should go for? Thank you!