From c0ea067344247f466f7c312ae605962bcd1cd523 Mon Sep 17 00:00:00 2001
From: Qx5 <qverburg@gmail.com>
Date: Wed, 24 Aug 2016 11:19:52 +0200
Subject: [PATCH] Missing transpose in text

python code does apply transpose as is correct in RTS
---
 13-Smoothing.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/13-Smoothing.ipynb b/13-Smoothing.ipynb
index dc88303..60599c2 100644
--- a/13-Smoothing.ipynb
+++ b/13-Smoothing.ipynb
@@ -499,7 +499,7 @@
     "    Update Step\n",
     "    \n",
     "$$\\begin{aligned}\n",
-    "\\mathbf{K}_k &= \\mathbf{P}_k\\mathbf{F} \\hspace{2 mm}\\mathbf{P}^{-1} \\\\\n",
+    "\\mathbf{K}_k &= \\mathbf{P}_k\\mathbf{F}^\\mathsf{T} \\hspace{2 mm}\\mathbf{P}^{-1} \\\\\n",
     "\\mathbf{x}_k &= \\mathbf{x}_k + \\mathbf{K}_k(\\mathbf{x}_{x+1} - \\mathbf{FX}_k) \\\\\n",
     "\\mathbf{P}_k &= \\mathbf{P}_k + \\mathbf{K}_k(\\mathbf{P}_{K+1} - \\mathbf{P})\\mathbf{K}_k^\\mathsf{T}\n",
     "\\end{aligned}$$\n",