P. x,,,,) ls clay Fixed parameter: (xy) Observabels lli=1,2,...16) Tu SP3 (.4) xc1 C3,2 A3 16 fan-4-2 P (X,Y) Form the linear distance and Pis = [ { x:=x;) ?+ (y; - w;) e]" direction observation equations. s dx = [(x,x)+(9,-y) 23"> You should write the linearized Observation equations (6 distance Via SA | Sx - [1,-4(X.)] and 2 direction) to the paper y - 21,-*). fx,+ (0-4) $4,-[4-[(x,x).(4.3)]"] 2 d = [ (x -) (3-7) 2]'? "2 = 1%-x) 8x + (4-4) Sy, - [lx-[(x2-x)?(92-94)2]'?] tan-w= -[(x2-x,)? (, -y)] 2 y = -( X2 X, ) 8+ - 132 ) Sy, + (x2 -k, ) S x2 + (3,3) Sy [ 1 - {x, - x, 3/4 13 lo (yayoaja ] y, y "() Sac (x,-x)2 =(4,-4) Sx, (x,-x) (9,-4) lu) v*a = -(y - 3) Sx + (x - x) sy, -[aci (120) " =tan tuz x -x -19,-4) (x,x) 2 Sxe 1+14-412 (x,x) - an (1) 32 tan X X3 Vaz2 = - (32 0 - 420) S x2 + ( 92 - 9 ) Sx + (x2-x) Syz - lxx -xz) . - [a z tan' (160)2 le) (do)2 )? P. x,,,,) ls clay Fixed parameter: (xy) Observabels lli=1,2,...16) Tu SP3 (.4) xc1 C3,2 A3 16 fan-4-2 P (X,Y) Form the linear distance and Pis = [ { x:=x;) ?+ (y; - w;) e]" direction observation equations. s dx = [(x,x)+(9,-y) 23"> You should write the linearized Observation equations (6 distance Via SA | Sx - [1,-4(X.)] and 2 direction) to the paper y - 21,-*). fx,+ (0-4) $4,-[4-[(x,x).(4.3)]"] 2 d = [ (x -) (3-7) 2]'? "2 = 1%-x) 8x + (4-4) Sy, - [lx-[(x2-x)?(92-94)2]'?] tan-w= -[(x2-x,)? (, -y)] 2 y = -( X2 X, ) 8+ - 132 ) Sy, + (x2 -k, ) S x2 + (3,3) Sy [ 1 - {x, - x, 3/4 13 lo (yayoaja ] y, y "() Sac (x,-x)2 =(4,-4) Sx, (x,-x) (9,-4) lu) v*a = -(y - 3) Sx + (x - x) sy, -[aci (120) " =tan tuz x -x -19,-4) (x,x) 2 Sxe 1+14-412 (x,x) - an (1) 32 tan X X3 Vaz2 = - (32 0 - 420) S x2 + ( 92 - 9 ) Sx + (x2-x) Syz - lxx -xz) . - [a z tan' (160)2 le) (do)2 )