[kalman] update exposition and notation (#897)
* rv notation in the basic idea section
* rv notation in section the filtering step
* add explanation to notation for densities
* rv notation in section the forecast step
* rv notation for the recursive procedure
* rv notation
* add point y in the plot
* update exercise wording
* style update: one sentence a paragraph qe-writing-001
* style update: title sentence case, qe-writing-006
* replace transpose from prime to top following style guide qe-math-002
* update multiplication following style guide qe-math-A5
* update np.matrix to np.arrary
1 file changed
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