Применение триангуляции к модели движения ТС по маршруту

Radio_Tower_Params = (
    X1 = 30.0,   Y1 = 0.0,    Z1 = 20.0,
    X2 = 364.0,  Y2 = 264.0,  Z2 = 100.0,
    X3 = 62.0,   Y3 = 190.0,  Z3 = 40.0,
    X4 = -155.0, Y4 = 476.0,  Z4 = 80.0,
    X5 = -283.0, Y5 = 206.0,  Z5 = 60.0,
    X6 = -400.0, Y6 = 0.0,    Z6 = 30.0,
    X7 = -202.0, Y7 = -147.0, Z7 = 90.0,
    X8 = -148.0, Y8 = -457.0, Z8 = 50.0,
    X9 = 100.0,  Y9 = -304.0, Z9 = 70.0,
    X10 = 340.0, Y10 = -247.0, Z10 = 45.0,
    NOISE_POWER = 10.0^2, NOISE_ST = 1.0
)


accelarations_noise_power = (10*10^-5)^2 # σ = 3 см /c^2
abs_speed_noise_power = 0.05^2 # σ = 5 см /c
euler_speed_noise_power = (2pi/360/60 * 6) ^ 2 # σ = 6 с^-2
axis_angles_noise = (2pi/360/60 * 27) ^ 2 # σ = 27'
slip_angles_noise = (2pi/360/60 * 27) ^ 2
bins_st = 0.01

dkt_noise_power = 0.01;
magnetometer_noise_power = 0.01