diff --git a/07-Kalman-Filter-Math.ipynb b/07-Kalman-Filter-Math.ipynb
index 4abf680..8f3b1e6 100644
--- a/07-Kalman-Filter-Math.ipynb
+++ b/07-Kalman-Filter-Math.ipynb
@@ -1618,7 +1618,7 @@
     "\\end{aligned}\n",
     "$$\n",
     "\n",
-    "As above, all of the matrices become scalars. $H$ defines how we convert from a position to a measurement. Both are positions, so there is no conversion, and thus $H=1$. Let's substitute in our known values and convert to scalar in one step. The inverse of a 1$\\times$1 matrix is the reciprocal of the value so we will convert the matrix inversion to division.\n",
+    "As above, all of the matrices become scalars. $H$ defines how we convert from a position to a measurement. Both are positions, so there is no conversion, and thus $H=1$. Let's substitute in our known values and convert to scalar in one step. The inverse of a 1x1 matrix is the reciprocal of the value so we will convert the matrix inversion to division.\n",
     "\n",
     "$$\n",
     "\\begin{aligned}\n",
diff --git a/code/RobotLocalizationParticleFilter.py b/experiments/RobotLocalizationParticleFilter.py
similarity index 100%
rename from code/RobotLocalizationParticleFilter.py
rename to experiments/RobotLocalizationParticleFilter.py