Equation typo in Chapter 11 Extended Kalman Filters

[anielsen001]

At block 12 the Jacobian V matrix is defined, I believe that an equals sign is missing. It reads like this:

$$\mathbf{V} = \frac{\partial f(x, u)}{\partial u} \begin{bmatrix} \frac{\partial f_1}{\partial v} & \frac{\partial f_1}{\partial \alpha} \\ \frac{\partial f_2}{\partial v} & \frac{\partial f_2}{\partial \alpha} \\ \frac{\partial f_3}{\partial v} & \frac{\partial f_3}{\partial \alpha} \end{bmatrix} $$

and should read like this:

$$\mathbf{V} = \frac{\partial f(x, u)}{\partial u} =\begin{bmatrix} \frac{\partial f_1}{\partial v} & \frac{\partial f_1}{\partial \alpha} \\ \frac{\partial f_2}{\partial v} & \frac{\partial f_2}{\partial \alpha} \\ \frac{\partial f_3}{\partial v} & \frac{\partial f_3}{\partial \alpha} \end{bmatrix} $$