= Test F3G - Navigation Error =

'''Goal:'''  Identify a limit to how large the navigation error can be and still get a good solution.  Also, see if small errors converge to the same state (i.e. that within certain boundaries, error is fully removed)

== Test Set Up ==

'''Data:'''  Approach, Preliminary Survey, and Detailed Survey PolyCam and MapCam Images

'''Start:'''  35cm Preliminary Shape Model and 150cm, 75cm, and 35cm global maplets 

'''Build:'''
 * Extended TAG Site 1 (50x50m) at 20cm, centered at -8.027, 262.768 (lat, wlong).
 * Evaluate 20mx20m region centered on TAG Site 1, images TBD which are fully contained in the TAG site and fully cover a single 5cm maplet near the center of the TAG site.

=== Sub-Test F3G-1 to F3G- 7 ===
 * Run with 3x, 2x, 1.5x, 1x, 0.75x, 0.5x, 0.25x the expected error.

=== Test Procedures ===
Summary:
 * Create a large BIGMAP at a resolution of 20cm with a width of 50m.  Register all images to this larger TAG site.  Once this is done, we run GEOMETRY, option 2 to update the position of the spacecraft.

Full details contained here: [[Test F3G-Navigation Error - Test Procedure]].

'''Evaluate:'''
 * Change in Spacecraft Position/Pointing - evaluate the observed-actual spacecraft position and pointing;
 * Evaluate the accuracy a 20mx20m region centered on TAG Site 1.