Proof reading Chapter 6

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- Fixed some typos
- Looked at issues https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python/issues/395
- Looked at issue https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python/issues/363
- Looked at issue https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python/issues/354

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