# Mathematical Glossary

A collection of mathematical terms and symbols used in FormaK documentation

$\mu_{t}$, $\mu_{t-1}$ state, previous state

$\overline{\mu_{t}}$, intermediate state during computation

$\Sigma_{t}$, $\Sigma_{t-1}$ covariance, previous covariance

$\overline{\Sigma_{t}}$, intermediate covariance during computation

$M_{t}$ process noise

$G_{t}$ process jacobian

$V_{t}$ control jacobain

$z_{t}$ sensor reading

$\hat{z_{t}}$ sensor model prediction

$Q_{t}$ sensor noise

$H_{t}$ sensor jacobian

$S_{t}$ expected sensor reading covariance

$K_{t}$ Kalman gain