diff --git a/README.rst b/README.rst
index 12a58409..e00592c0 100644
--- a/README.rst
+++ b/README.rst
@@ -152,9 +152,9 @@ Initialize the filter's matrices.
                     [0.,1.]])    # state transition matrix
 
     my_filter.H = np.array([[1.,0.]])    # Measurement function
-    my_filter.P *= 1000.                 # covariance matrix
-    my_filter.R = 5                      # state uncertainty
-    my_filter.Q = Q_discrete_white_noise(dim=2, dt=0.1, var=0.1) # process uncertainty
+    my_filter.P *= 1000.                 # Covariance matrix for the state estimate
+    my_filter.R = 5                      # Measurement noise
+    my_filter.Q = Q_discrete_white_noise(dim=2, dt=0.1, var=0.1) # Process uncertainty
 
 
 Finally, run the filter.