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### 2. Distance

Figure F-1 Distance Observation |

Equation F-1 is the distance bertween two points in terms of their coordinates.

Equation F-1 | |

N |

To apply a Taylor Series, patial derivatives of Equation F-1 are taken with respect to each coordinate of both points. The partial derivative for N_{A} is:

Similarly, the remaining partial derivatives are:

Equation F-2 is the distance observation equation, evaluated at initial coordinate approximations.

Equation F-2 | |||

Equation F-3 |