From bfeeab05f7b85718576078195f69e96b4c267d01 Mon Sep 17 00:00:00 2001 From: marcae777 Date: Fri, 13 Jan 2017 00:27:13 -0500 Subject: [PATCH] Fixed formula in Kalman Filter Math --- 07-Kalman-Filter-Math.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/07-Kalman-Filter-Math.ipynb b/07-Kalman-Filter-Math.ipynb index 2255d45..a0953d9 100644 --- a/07-Kalman-Filter-Math.ipynb +++ b/07-Kalman-Filter-Math.ipynb @@ -388,7 +388,7 @@ "\n", "However, we are not interested in the derivative of $\\mathbf x$, but in $\\mathbf x$ itself. Ignoring the noise for a moment, we want an equation that recusively finds the value of $\\mathbf x$ at time $t_k$ in terms of $\\mathbf x$ at time $t_{k-1}$:\n", "\n", - "$$\\mathbf x(t_k) = \\mathbf F(\\Delta t)\\mathbf x(t_{k-1}) + \\mathbf B(t_k) + \\mathbf u (t_k)$$\n", + "$$\\mathbf x(t_k) = \\mathbf F(\\Delta t)\\mathbf x(t_{k-1}) + \\mathbf B(t_k)\\mathbf u (t_k)$$\n", "\n", "Convention allows us to write $\\mathbf x(t_k)$ as $\\mathbf x_k$, which means the \n", "the value of $\\mathbf x$ at the k$^{th}$ value of $t$.\n",