diff --git a/kalman_filter/gps_measurement.py b/kalman_filter/gps_measurement.py
index 7ca77d0..07a43d2 100644
--- a/kalman_filter/gps_measurement.py
+++ b/kalman_filter/gps_measurement.py
@@ -4,7 +4,7 @@ import csv
 import geopy.distance
 
 
-def get_lat_long(filename):
+def read_csv_lat_long(filename):
     result = []
 
     with open(filename) as csvfile:
@@ -30,12 +30,33 @@ def lat_long_to_km(x1, x2):
     return np.array(result)
 
 
+"""
+A stationary system is considered (x1=latitude, x2=longitude):
+x1_{n+1} = x1_n
+x2_{n+1} = x2_n
+
+F = [[1, 0],
+     [0, 1]]
+
+
+No known control inputs:
+G = 0
+
+
+Measured values are the states:
+H = [[1, 0],
+     [0, 1]]
+
+
+The reset of the parameters are empirically determined
+"""
+
 
 def simulate():
     # Read data
     
     x0_actual     = [48.993552704, 8.371038159]
-    x_measurement = get_lat_long('/home/atsouchlos/git/kalman_filter/res/29_03_2022_Unterreut_8_Karlsruhe.csv')
+    x_measurement = read_csv_lat_long('res/29_03_2022_Unterreut_8_Karlsruhe.csv')
 
     
     # Simulation parameter definitions