diff --git a/README.md b/README.md
index 3654a4a..5a1cc1c 100644
--- a/README.md
+++ b/README.md
@@ -1,22 +1,20 @@
-
-Need SatNav toolbox as a support
-
-See http://www.navtechgps.com/satnav_toolbox/
-
-Include the SatNav toolbox path before running.
-
-'main_CMM.m' calls the functions that implement RBPF, smoothed static method and static method for CMM.
-
-For detial, see Shen et al. [1], [2]
+This repo contains codes used to reproduce the results in:
 
 [1] Shen, Macheng, et al. "Improving localization accuracy in connected vehicle networks using rao-blackwellized particle filters: Theory, simulations, and experiments." arXiv preprint arXiv:1702.05792 (2017).
 
 [2] Rohani, Mohsen, Denis Gingras, and Dominique Gruyer. "A novel approach for improved vehicular positioning using cooperative map matching and dynamic base station DGPS concept." IEEE Transactions on Intelligent Transportation Systems 17.1 (2016): 230-239.
 
-Some of the m.file doing elementary work such as 'plotcov2d', 'plotmarker' and 'plotSamples'
+'main.m' calls the functions that implement three algorithms for cooperative map matching:
+1. a Rao-blackwellized particle filter;
+2. a kalman-smoothed static method;
+3. a static method. (proposed by Rohani et al.)
 
+Installation: The main function needs Matlab SatNav toolbox as a support.
+See http://www.navtechgps.com/satnav_toolbox/
+Include the SatNav toolbox path before running.
+
+Acknowledgement: Some of the m.file for post-processing such as 'plotcov2d', 'plotmarker' and 'plotSamples'
 are taken from Professor Ryan Eustice's course pack of NAME/EECS 568 Mobile Robotics @ University of Michigan, Ann Arbor.
 
 'obs1','obs2',...'obs4' and 'nav1',...'nav4' are raw observables and navigation data collected from four u-blox EVK-6T GNSS receivers,
-
-see the experiment described in [1] for detail.# GPS_project
+see the experiment described in [1] for detail.