diff --git a/Localization/Kalmanfilter_basics.ipynb b/Localization/Kalmanfilter_basics.ipynb
index b4913f9e..86966c8d 100644
--- a/Localization/Kalmanfilter_basics.ipynb
+++ b/Localization/Kalmanfilter_basics.ipynb
@@ -354,14 +354,14 @@
     "\n",
     "Here for the numerator,  $P(Z \\mid X),P(X)$ both are gaussian.\n",
     "\n",
-    "$N(\\bar\\mu, \\bar\\sigma^1)$ and $N(\\bar\\mu, \\bar\\sigma^2)$ are their mean and variances.\n",
+    "$N(\\mu_1, \\sigma_1^2)$ and $N(\\mu_2, \\sigma_2^2)$ are their mean and variances.\n",
     "\n",
     "New mean is \n",
     "\n",
-    "$$\\mu_\\mathtt{new} = \\frac{\\sigma_z^2\\bar\\mu + \\bar\\sigma^2z}{\\bar\\sigma^2+\\sigma_z^2}$$\n",
+    "$$\\mu_\\mathtt{new} = \\frac{\\mu_1 \\sigma_2^2 + \\mu_2 \\sigma_1^2}{\\sigma_1^2+\\sigma_2^2}$$\n",
     "New variance is\n",
     "$$\n",
-    "\\sigma_\\mathtt{new} = \\frac{\\sigma_z^2\\bar\\sigma^2}{\\bar\\sigma^2+\\sigma_z^2}\n",
+    "\\sigma_\\mathtt{new} = \\frac{\\sigma_1^2\\sigma_2^2}{\\sigma_1^2+\\sigma_2^2}\n",
     "$$"
    ]
   },
@@ -759,4 +759,4 @@
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}
\ No newline at end of file