diff --git a/08-Designing-Kalman-Filters.ipynb b/08-Designing-Kalman-Filters.ipynb index 64f7aecdd6a5062143bce63c2c5a2bd34c28d261..352ee29db6a19df0348f369eb84f1906fc6e4a2e 100644 --- a/08-Designing-Kalman-Filters.ipynb +++ b/08-Designing-Kalman-Filters.ipynb @@ -3248,7 +3248,7 @@ "The wheel sensor alters the velocity element of $\\mathbf x$, so we assign:\n", "\n", "$$\\begin{aligned}\n", - "\\mathbf H &= \\begin{bmatrix}1 &0\\end{bmatrix} \\\\\n", + "\\mathbf H &= \\begin{bmatrix}0 &1\\end{bmatrix} \\\\\n", "\\mathbf R &= \\sigma_{wheel}^2\n", "\\end{aligned}$$" ]