diff --git a/10-Unscented-Kalman-Filter.ipynb b/10-Unscented-Kalman-Filter.ipynb index c42c673..3a2b58c 100644 --- a/10-Unscented-Kalman-Filter.ipynb +++ b/10-Unscented-Kalman-Filter.ipynb @@ -2382,7 +2382,7 @@ " K = dot(Pxz, inv(Pz)) # Kalman gain\n", "\n", " self.x = self.xp + dot(K, z-zp)\n", - " self.P = self.Pp - dot3(K, Pz, K.T)\n", + " self.P = self.Pp - dot(K, Pz).dot(K.T)\n", "```" ] }, diff --git a/Appendix-E-Ensemble-Kalman-Filters.ipynb b/Appendix-E-Ensemble-Kalman-Filters.ipynb index 16a2aea..b853972 100644 --- a/Appendix-E-Ensemble-Kalman-Filters.ipynb +++ b/Appendix-E-Ensemble-Kalman-Filters.ipynb @@ -521,7 +521,7 @@ "\n", "```python\n", " x = np.mean(sigmas, axis=0)\n", - " P = self.P - dot3(K, P_zz, K.T)\n", + " P = self.P - dot(K, P_zz).dot(K.T)\n", "```" ] },