diff --git a/README.md b/README.md
index a494188..66ecdd4 100644
--- a/README.md
+++ b/README.md
@@ -36,19 +36,19 @@ Process model:
 
 velocity:
 
-$$  v_k = v_{k-1} + aT - \hat{a}_{k-1}T  $$
+$  v_k = v_{k-1} + aT - \hat{a}_{k-1}T  $  
 
 displacement:
 
-$$  y _k = y _{k-1} + v _{k-1}T + {a \over 2}T^2 - {\hat{a} _{k-1} \over 2}T^2  $$
+$  y _k = y _{k-1} + v _{k-1}T + {a \over 2}T^2 - {\hat{a} _{k-1} \over 2}T^2  $  
 
 displacement_integral:
 
-$$  z _k = z _{k-1} + y _{k-1}T + {v _{k-1} \over 2}T^2 + {a \over 6}T^3 - {\hat{a} _{k-1} \over 6}T^3  $$
+$  z _k = z _{k-1} + y _{k-1}T + {v _{k-1} \over 2}T^2 + {a \over 6}T^3 - {\hat{a} _{k-1} \over 6}T^3  $  
 
 accelerometer bias:
 
-$$  \hat {a} _k = \hat {a} _{k-1}  $$
+$  \hat {a} _k = \hat {a} _{k-1}  $  
 
 
 ### Implementation Notes