\documentclass{article}
\title{My Equation}
\author{First Last}
\date{July 21, 2020}
\begin{document}
\maketitle
\begin{equation}
K = P_{predicted} H^{T} \Big( H P_{predicted} H^{T}+R\Big) ^{-1}
\label{eqn:KalmanUpdate}
\end{equation}
\end{document}