Added equation for relationship of h to covariance for g-h filter.
Adjusted format to work correctly with nbconvert.

Mostly replaced align with aligned.
Removed book title and link from top of pages.

I did this because it doesn't generate latex very well with nbconvert.
Also, the layout is strange - the chapter title is not clear.
Merge branch 'master' of https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python