typo fixes

Author: rlabbe

Interactions.ipynb

@@ -36,11 +36,11 @@
     "# Experimenting with FPF'\n",
     "\n",
     "\n",
-    "The Kaman filter uses the equation $P^- = FPF^\\mathsf{T}$ to compute the prior of the covariance matrix during the prediction step, where P is the covariannce matrix and F is the system transistion function. For a Newtonian system $x = \\dot{x}\\Delta t + x_0$ F might look like\n",
+    "The Kalman filter uses the equation $P^- = FPF^\\mathsf{T}$ to compute the prior of the covariance matrix during the prediction step, where P is the covariance matrix and F is the system transistion function. For a Newtonian system $x = \\dot{x}\\Delta t + x_0$ F might look like\n",
     "\n",
     "$$F = \\begin{bmatrix}1 & \\Delta t\\\\0 1\\end{bmatrix}$$\n",
     "\n",
-    "$FPF^\\mathsf{T}$ alters P by taking the correlation between the position ($x$) and velocity ($\\dot{x}). This interactive plot lets you see the effect of different designs of F has on this value. For example,\n",
+    "$FPF^\\mathsf{T}$ alters P by taking the correlation between the position ($x$) and velocity ($\\dot{x}$). This interactive plot lets you see the effect of different designs of F has on this value. For example,\n",
     "\n",
     "* what if $x$ is not correlated to $\\dot{x}$? (set F01 to 0)\n",
     "\n",