Spelling and capitization fixes.

README.md

@@ -1,4 +1,4 @@
-Introductory textbook for Kalman filters and Bayesian filters. All code is written in Python, and the book itself is written in Ipython Notebook so that you can run and modify the code in the book in place, seeing the results inside the book. What better way to learn?
+Introductory textbook for Kalman filters and Bayesian filters. All code is written in Python, and the book itself is written in IPython Notebook so that you can run and modify the code in the book in place, seeing the results inside the book. What better way to learn?
 
 ![alt tag](https://raw.githubusercontent.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python/master/05_Kalman_Filters/dog_track.gif)
 
@@ -49,7 +49,7 @@ author's note: The chapter on g-h filters is fairly complete as far as planned c
 
 Beyond that the chapters are much more in a state of flux. Reader beware. My writing methodology is to just vomit out whatever is in my head, just to get material, and then go back and think through presentation, test code, refine, and so on. Whatever is checked in in these later chapters may be wrong and not ready for your use. 
 
-Finally, nothing has been spell checked or proof read yet. I with IPython Notebook had spell check, but it doesn't seem to. 
+Finally, nothing has been spell checked or proof read yet. I wish IPython Notebook had spell check, but it doesn't seem to. 
 
 
 Motivation
@@ -65,7 +65,7 @@ None of this necessary, from my point of view. Certainly if you are designing a
 
 I wrote this book to address all of those needs. This is not the book for you if you program avionics for Boeing or design radars for Ratheon. Go get a degree at Georgia Tech, UW, or the like, because you'll need it. This book is for the hobbiest, the curious, and the working engineer that needs to filter or smooth data. 
 
-This book is interactive. While you can read it online as static content, I urge you to use it as intended. It is written using IPython Notebook, which allows me to combine text, python, and python output in one place. Every plot, every piece of data in this book is generated from Python that is available to you right inside the notebook. Want to double the value of a parameter? Click on the Python cell, change the parameter's value, and click 'Run'. A new plot or printed output will appear in the book. 
+This book is interactive. While you can read it online as static content, I urge you to use it as intended. It is written using IPython Notebook, which allows me to combine text, Python, and Python output in one place. Every plot, every piece of data in this book is generated from Python that is available to you right inside the notebook. Want to double the value of a parameter? Click on the Python cell, change the parameter's value, and click 'Run'. A new plot or printed output will appear in the book. 
 
 This book has exercises, but it also has the answers. I trust you. If you just need an answer, go ahead and read the answer. If you want to internalize this knowledge, try to implement the exercise before you read the answer. 
 
@@ -179,9 +179,9 @@ Installation and Software Requirements
 
 ** author's note**. *The book is still being written, and so I am not focusing on issues like supporting multipe versions of Python. I am staying more or less on the bleeding edge of Python 3 for the time being. If you follow my suggestion of installing Anaconda all off the versioning problems will be taken care of for you, and you will not alter or affect any existing installation of Python on your machine. I am aware that telling somebody to install a specific packaging system is not a long term solution, but I can either focus on endless regression testing for every minor code change, or work on delivering the book, and then doing one sweep through it to maximize compatibility. I opt for the latter. In the meantime I welcome bug reports if the book does not work on your platform.*
 
-If you want to run the notebook on your computer, which is what I recommend, then you will have to have IPython installed. I do not cover how to do that in this book; requirements change based on what other python installations you may have, whether you use a third party package like Anaconda Python, what operating system you are using, and so on. 
+If you want to run the notebook on your computer, which is what I recommend, then you will have to have IPython installed. I do not cover how to do that in this book; requirements change based on what other Python installations you may have, whether you use a third party package like Anaconda Python, what operating system you are using, and so on. 
 
-To use all features you will have to have Ipython 2.0 installed, which is released and stable as of April 2014. Most of the book does not require that recent of a version, but I do make use of the interactive plotting widgets introduced in this release. A few cells will not run if you have an older version installed. This is merely a minor annoyance.
+To use all features you will have to have IPython 2.0 installed, which is released and stable as of April 2014. Most of the book does not require that recent of a version, but I do make use of the interactive plotting widgets introduced in this release. A few cells will not run if you have an older version installed. This is merely a minor annoyance.
 
 You will need Python 2.7 or later installed. Almost all of my work is done in Python 3.4, but I periodically test on 2.7. I do not promise any specific check in will work in 2.7 however. I do use Python's "from __future__ import ..." statement to help with compatibility. For example, all prints need to use parenthesis. If you try to add, say, "print 3.14" into the book your script will fail; you must write "print (3.4)" as in Python 3.X.
 
@@ -204,7 +204,7 @@ If you do not have pip, you may follow the instructions here: https://pip.pypa.i
 
 Code that is specific to the book is stored with the book in the subdirectory ./*code*. This code is in a state of flux; I do not wish to document it here yet. I do mention in the book when I use code from this directory, so it should not be a mystery.
 
-In the *code* subdirectory there are python files with a name like *xxx*_internal.py. I use these to store functions that are useful for a specific chapter. This allows me to hide away Python code that is not particularly interesting to read - I may be generating a plot or chart, and I want you to focus on the contents of the chart, not the mechanics of how I generate that chart with Python. If you are curious as to the mechanics of that, just go and browse the source.
+In the *code* subdirectory there are Python files with a name like *xxx*_internal.py. I use these to store functions that are useful for a specific chapter. This allows me to hide away Python code that is not particularly interesting to read - I may be generating a plot or chart, and I want you to focus on the contents of the chart, not the mechanics of how I generate that chart with Python. If you are curious as to the mechanics of that, just go and browse the source.
 
 Some chapters introduce functions that are useful for the rest of the book. Those functions are initially defined within the Notebook itself, but the code is also stored in a Python file that is imported if needed in later chapters. I do document when I do this where the function is first defined, but this is still a work in progress. I try to avoid this because then I always face the issue of code in the directory becoming out of sync with the code in the book. However, IPython Notebook does not give us a way to refer to code cells in other notebooks, so this is the only mechanism I know of to share functionality across notebooks.