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[kalman_2] Update code and descriptions (#907)

* updates * updates * updates * updates * Potential fix for pull request finding Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

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lectures
- kalman_2.md

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