how to write the algorithm in latex

Question

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}

Answer 1

You need to use \; to close every statement, otherwise content is consider part of the same line:

\documentclass{article}

\usepackage{algorithm2e}
\SetKwInOut{Input}{Input}
\SetKwInOut{Output}{Output\,}
\SetAlgoLined
\DontPrintSemicolon

\begin{document}

\begin{algorithm}[H]
  \Input{$x_{k - 1}$, $P_{k - 1}$, $u_k$, $z_k$}
  \Output{$x_{k}^{-}$, $P_k^{-}$}
  \BlankLine
  $x_{k + 1} = \Phi(x)_{k - 1} + Bu_k + G\omega_k$\;
  $P_k = \Phi(P)_{k - 1} \Phi^T + Q$\;
  $K = PH^T (HPH^T + R)^{-1})$\;
  $z = (z_k - H_k x_k)$\;
  $x_k^{-} = x_k + k z$\;
  $P_k^{-} = P - KHP$\;
  \textbf{return} $x_k^{-}$, $P_k^{-}$\;
  \caption{\textsc{Kalman Filter}}
\end{algorithm}

\end{document}