LinAlgError: Singular matrix

[raul-parada]

By executing the line 'K = (P*JH.T) * np.linalg.inv(S)' I get always an error:

The original S is matrix([[matrix([[6371.]]), matrix([[6371.]])],
[matrix([[6371.]]), matrix([[6371.]])]], dtype=object)

TypeError: No loop matching the specified signature and casting was found for ufunc inv

if I convert s to float64 S = S.astype(np.float64) the content of S is

matrix([[6371., 6371.],
[6371., 6371.]])

LinAlgError: Singular matrix

How can I solve this issue?

[AydinAltun]

from numpy.linalg import inv
K=(PH.T)inv(HPH.T + R)#Kalman Gain