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\begin{document}
\begin{subequations}\label{equ:kalmanSummary}
    \begin{align}
    \mathbf{G}_{n} &= \mathbf{P}_{n|n-1}\mathbf{B}_n^T[\mathbf{B}_n\mathbf{P}_{n|n-1}\mathbf{B}_n^T + \mathbf{Q}_{\nu, n}]^{-1}\\
    \boldsymbol{\alpha}_{n} &= \mathbf{y}_{n} - \mathbf{B}_{n}\hat{\mathbf{x}}_{n|n-1}\\
    \hat{\mathbf{x}}_{n|n} &= \hat{\mathbf{x}}_{n|n-1} +  \mathbf{G}_{n} \boldsymbol{\alpha}_{n}\\%
    \hat{\mathbf{x}}_{n|n+1} &=\mathbf{A}_{n+1, n}\hat{\mathbf{x}}_{n|n}\\
    \mathbf{P}_{n|n} &= \mathbf{P}_{n|n-1} - \mathbf{G}_{n}\mathbf{B}_{n}\mathbf{P}_{n|n-1}\\%
    \mathbf{P}_{n+1|n} &=\mathbf{A}_{n+1, n}\mathbf{P}_{n|n}\mathbf{A}_{n+1, n}^T + \mathbf{Q}_{\omega, n}
    \end{align}
\end{subequations}
\end{document}