Применение триангуляции к модели движения ТС по маршруту

proj_root_folder = @__DIR__
include("$proj_root_folder/map_params.jl")
include("$proj_root_folder/car_params.jl")
include("$proj_root_folder/sensors_params.jl")
include("$proj_root_folder/matrixes.jl");

sim_model = engee.load("$(proj_root_folder)/vehicle_model.engee", force=true);

engee.run(sim_model)
engee.close(sim_model, force=true);

pos_vect_9 = collect(pos).value[1:100:end]
pos_vect_9_calc = collect(pos_calc).value[1:100:end];

plot(
    map(x->x[1], pos_vect_9),
    map(x->x[2], pos_vect_9), 
    map(x->x[3], pos_vect_9),
    lw=6, color=:red, label="traj",
    legendfont = font("Times New Roman", 12),
    titlefont = font("Times New Roman", 14),
    title = "Траектории ЦМ при движении по маршруту по Калману датчикам"
)
cicle_route =  [route ; route[1, :]']
plot!(
    cicle_route[:, 1],
    cicle_route[:, 2], 
    zeros(size(cicle_route[:, 1])),
    lw=4, color=:blue, label="route",
    legendfont = font("Times New Roman", 12),
)

plot([0:1500;], map(x-> sqrt(sum(x.^2)), (pos_vect_9 .- pos_vect_9_calc)),
    title="Отклонение измерений от истинного положения при движении по Калману", 
    legend = false, titlefont = font("Times New Roman", 14)
)