= 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:
 * All NOMINALS and SUMFILES are perturbed as per F1A - Baseline.
 * All perturbations are random, no systematic perturbation are included (i.e. there is no simulation of spacecraft position or pointing drift).
 * Detailed Survey Images:
  * Equatorial Stations MapCam images at approx. 30cm and 20cm pixel resolution.
  * Baseball Diamond Nadir (10am and 2pm stations) PolyCam images at approx. 5cm pixel resolution.
  * Baseball Diamond Off-Nadir (10am station looking at 12pm, and 2pm station looking at 12pm) PolyCam images at approx. 5cm pixel resolution.

'''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).
 * Extended TAG Site 1 (50x50m) at 10cm, centered at -8.027, 262.768 (lat, wlong).
 * Extended TAG Site 1 (50x50m) at 5cm, 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 baseline perturbation.
 * Only Detailed Survey PolyCam perturbations altered.

=== Test Procedures ===
Summary:
 * Ingest and register the Detailed Survey MapCam and PolyCam images.
 * Autoregister the MapCam images to the 150cm, 75cm, and 35cm maplets in a 100m x 100m region centered on TAG site 1.
 * Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
 * Clean until tiled and correlated states achieved.
 * Create a large BIGMAP at a resolution of 20cm with a width of 50m.  
 * Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
 * Clean until tiled and correlated states achieved.
 * Create a large BIGMAP at a resolution of 10cm with a width of 50m.  
 * Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
 * Clean until tiled and correlated states achieved.
 * Run GEOMETRY, option 2 to update the position of the spacecraft.
 * Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
 * Clean until tiled and correlated states achieved.
 * Create a large BIGMAP at a resolution of 5cm with a width of 50m.  
 * Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
 * Clean until tiled and correlated states achieved.
 * Achieve imaged state.
 * Achieve fitted state.
 * Run GEOMETRY, option 2 to update the position of the spacecraft.
 * Achieve residualed state.
 * Achieve re-tiled state.
 * Achieve sigma'ed state.
 * Evaluate a 20m x 20m region centered on TAG site 1. 

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.