diff --git a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
index e5ebd954..d896924a 100644
--- a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
+++ b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
@@ -189,14 +189,15 @@
     "\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}$\n",
+    "\n"
    ]
   },
   {
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "### Ref\n",
+    "### Ref:\n",
     "\n",
     "- [PROBABILISTIC\\-ROBOTICS\\.ORG](http://www.probabilistic-robotics.org/)"
    ]
diff --git a/docs/modules/extended_kalman_filter_localization.rst b/docs/modules/extended_kalman_filter_localization.rst
index 78164339..63839fba 100644
--- a/docs/modules/extended_kalman_filter_localization.rst
+++ b/docs/modules/extended_kalman_filter_localization.rst
@@ -129,9 +129,9 @@ Localization process using Extendted Kalman Filter:EKF is
 
 :math:`x_{t+1} = x_{Pred} + Ky`
 
-$P_{t+1} = ( I - K J_H) P_{Pred} $
+:math:`P_{t+1} = ( I - K J_H) P_{Pred}`
 
-Ref
-~~~
+Ref:
+~~~~
 
 -  `PROBABILISTIC-ROBOTICS.ORG <http://www.probabilistic-robotics.org/>`__