diff --git a/Localization/Kalmanfilter_basics.ipynb b/Localization/Kalmanfilter_basics.ipynb
index 37428791..b4913f9e 100644
--- a/Localization/Kalmanfilter_basics.ipynb
+++ b/Localization/Kalmanfilter_basics.ipynb
@@ -228,7 +228,7 @@
     "\n",
     "#### Central Limit Theorem\n",
     "\n",
-    "According to this theorem, the average of n samples of random and independant variables tends to follow a normal distribution as we increase the sample size.(Generally, for n>=30)"
+    "According to this theorem, the average of n samples of random and independent variables tends to follow a normal distribution as we increase the sample size.(Generally, for n>=30)"
    ]
   },
   {
diff --git a/docs/modules/Kalmanfilter_basics.rst b/docs/modules/Kalmanfilter_basics.rst
index ce84fe0d..7325dafd 100644
--- a/docs/modules/Kalmanfilter_basics.rst
+++ b/docs/modules/Kalmanfilter_basics.rst
@@ -180,7 +180,7 @@ Central Limit Theorem
 ^^^^^^^^^^^^^^^^^^^^^
 
 According to this theorem, the average of n samples of random and
-independant variables tends to follow a normal distribution as we
+independent variables tends to follow a normal distribution as we
 increase the sample size.(Generally, for n>=30)
 
 .. code-block:: ipython3