Merge branch 'master' of https://github.com/rlabbe/Kalman-and-Bayesia…

…n-Filters-in-Python
rlabbe · Jun 27, 2022 · 9e3d2f6 · 9e3d2f6
2 parents babbc1e + 11d9fce
commit 9e3d2f6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/13-Smoothing.ipynb b/13-Smoothing.ipynb
@@ -268,7 +268,7 @@
     "    for k in range(n-2,-1,-1):\n",
     "        Pp[k] = F @ P[k] @ F.T + Q # predicted covariance\n",
     "\n",
-    "        K[k]  = P[k] @ F.T @inv(Pp[k])\n",
+    "        K[k]  = P[k] @ F.T @ inv(Pp[k])\n",
     "        x[k] += K[k] @ (x[k+1] - (F @ x[k]))     \n",
     "        P[k] += K[k] @ (P[k+1] - Pp[k]) @ K[k].T\n",
     "    return (x, P, K, Pp)\n",