Local-level state-space model ($X_t=S_t+v_t,S_t=S_{t-1}+w_t$)

The latent state follows a random walk, while observations add independent measurement noise. If the two noises have variances $W,V$, the differences have autocovariances $W+2V$ at lag zero, $-V$ at lag one, and zero at larger lags. For $V,W>0$, write $q=(W+2V+\sqrt{W^2+4WV})/2$ and $\vartheta =-V/q$. The differenced process is an invertible moving-average model with coefficient $\vartheta$ and innovation variance $q$. Its level has a unit root.