wording changes

Author: betaBison

notebooks/tutorials/algorithms.ipynb

@@ -38,10 +38,9 @@
     "Solve for the Weighted Least Squares position estimate simply by passing the measurement data.\n",
     "\n",
     "When obtaining WLS estimates for real measurements, the rotation of the Earth between the signal transmission and reception has to be accounted for.\n",
-    "`solve_wls` accounts for this by default and rotates the given SV positions into the ECEF frame of reference when the signals were received.\n",
+    "`solve_wls` accounts for this by default and rotates the given SV positions into the ECEF frame of reference when the signals were received rather using the ECEF frame of reference of when the signals were transmitted.\n",
     "\n",
-    "In case you assume that the satellite positions are given for the ECEF frame of reference when the signals were received,\n",
-    "this can be accomplished by setting the parameter `tx_time = False` in the function call."
+    "If you assume that the satellite positions are given in the ECEF frame of reference when the signals were received (and not transmitted), set the parameter `tx_time = False` in the function call."
    ]
   },
   {
@@ -109,10 +108,9 @@
    "id": "0387e03e",
    "metadata": {},
    "source": [
-    "Solve for the Weighted Least Squares position estimate simply by passing the measurement data.\n",
+    "Solve for the extended Kalman filter position estimate simply by passing the measurement data.\n",
     "\n",
-    "The implemented EKF also assumes that the satellite positions are given for when the signals were transmitted and that\n",
-    "they must be rotated to account for the change in the ECEF frame of reference.\n",
+    "The implemented EKF also assumes that the satellite positions are given for when the signals were transmitted (and not received), so the satellite positions must be rotated to account for the change in the ECEF frame of reference due to the rotation of the Earth between transmission time and received time.\n",
     "\n",
     "In this case, to change this default behaviour, pass a dictionary `init_dict` with the key-value pair `\"use_tx_time\": True`."
    ]
@@ -257,7 +255,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },