diff --git a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
index ba8a568b..e5ebd954 100644
--- a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
+++ b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
@@ -183,14 +183,13 @@
     "\n",
     "$y = z - z_{Pred}$\n",
     "\n",
-    "$ S = J_H P_{Pred}.J_H^T + R$\n",
+    "$S = J_H P_{Pred}.J_H^T + R$\n",
     "\n",
-    "$ K = P_{Pred}.J_H^T S^{-1}$\n",
+    "$K = P_{Pred}.J_H^T S^{-1}$\n",
     "\n",
+    "$x_{t+1} = x_{Pred} + Ky$\n",
     "\n",
-    "$ x_{t+1} = x_{Pred} + Ky$\n",
-    "\n",
-    " $P_{t+1} = ( I - K J_H) P_{Pred} $"
+    "$P_{t+1} = ( I - K J_H) P_{Pred} $"
    ]
   },
   {
diff --git a/docs/modules/extended_kalman_filter_localization.rst b/docs/modules/extended_kalman_filter_localization.rst
index f906bdea..78164339 100644
--- a/docs/modules/extended_kalman_filter_localization.rst
+++ b/docs/modules/extended_kalman_filter_localization.rst
@@ -123,11 +123,11 @@ Localization process using Extendted Kalman Filter:EKF is
 
 :math:`y = z - z_{Pred}`
 
-$ S = J_H P_{Pred}.J_H^T + R$
+:math:`S = J_H P_{Pred}.J_H^T + R`
 
-$ K = P_{Pred}.J_H^T S^{-1}$
+:math:`K = P_{Pred}.J_H^T S^{-1}`
 
-$ x_{t+1} = x_{Pred} + Ky$
+:math:`x_{t+1} = x_{Pred} + Ky`
 
 $P_{t+1} = ( I - K J_H) P_{Pred} $