Methods and systems for enhancing workflow performance in the oil and gas industry may estimate the properties of drilling muds (e.g., density and/or viscosity) located downhole with methods that utilize real-time data, estimated drilling mud properties, and mathematical models. Further, the methods described herein may optionally account for the uncertainties induced by sensor readings and dynamic modeling. For example, a method may include circulating a drilling mud through a mud circulation system; performing a plurality of measurements from various sensors in a mud circulation system; modeling in real-time drilling mud flow dynamics in the drilling mud using a mathematical dynamics model; predicting physical states of the drilling mud with the mathematical dynamics model, thereby producing model physical state predictions; inputting the measurements into the mathematical dynamics model; and adjusting discrepancies between the model physical state predictions and the measurements using the mathematical dynamics model.