diff --git a/Localization/particle_filter/animation.gif b/Localization/particle_filter/animation.gif
new file mode 100644
index 00000000..22530745
Binary files /dev/null and b/Localization/particle_filter/animation.gif differ
diff --git a/Localization/particle_filter/particle_filter.py b/Localization/particle_filter/particle_filter.py
index b1f64804..ba8877ef 100644
--- a/Localization/particle_filter/particle_filter.py
+++ b/Localization/particle_filter/particle_filter.py
@@ -10,9 +10,9 @@ import numpy as np
 import math
 import matplotlib.pyplot as plt
 
-# Estimation parameter of EKF
+# Estimation parameter of PF
 Q = np.diag([0.1])**2  # range error
-R = np.diag([1.0, math.radians(40.0)])**2
+R = np.diag([1.0, math.radians(40.0)])**2  # input error
 
 #  Simulation parameter
 Qsim = np.diag([0.2])**2