--- a/pykalman/utils.py
+++ b/pykalman/utils_copy.py
@@ -40,6 +40,10 @@
 from scipy import linalg
 
 
+# monkey patch
+if not hasattr(inspect, 'getargspec'):
+    inspect.getargspec = inspect.getfullargspec
+
 def array1d(X, dtype=None, order=None):
     """Returns at least 1-d array with data from X"""
     return np.asarray(np.atleast_1d(X), dtype=dtype, order=order)