This work presents a methodology to estimate solar irradiance using Kalman filter for systems with unknown inputs, an approach more adequate to system characteristics than the standard formulation of this tool. A system with photovoltaic panel, dc-dc converter and load was modeled and simulated in order to analyze the proposed methodology in situations of clear, almost clear and cloudy sky days. The proposed estimator and an analytical method are compared with respect to the ability to compute the irradiance and tested against uncertainties in modeling parameters and noise in the voltage and current measurements of the system. The results show that, through a single sensor, the developed methodology allows to estimate and filter not only solar irradiance, but also output current of photovoltaic system and output voltage of converter. This brings benefits in reducing costs with sensors, allows real-time measurements and avoids propagating noisy measures in the management of a solar system.