My code is below, I didn't find the error.
\begin{algorithm}[H]
\SetAlgoLined
\textbf{Input} :$x_{k-1}$,$P_{k-1}$,$u_{k}$,$z_{k}$\;
\textbf{Output} : $x_{k}^{-}$,$P_{k}^{-}$ \\~\\
$x_{k+1}={\Phi{x}}_{k-1}+{Bu}_{k}+{G\omega}_{k}$
$P_{k}={\Phi{P}}_{k-1}{\Phi}^{T}+Q$
$K=PH^{T}(HPH^{T}+R)^{-1})$
$z=(z_{k}-H_{k}x_{k})$
$x_{k}^{-}=x_{k}+kz$
$P_{k}^{-}=P-KHP$
\textbf{return}$ x_{k}^{-}$,$P_{k}^{-}$
\caption{ \textsc{Kalman Filter} }
\end{algorithm}
\documentclass
and ends with\end{document}
and contains as few lines of code/text as are necessary to reproduce the problem.