[AMR] Various fixes, error propagation, more explanations

electives/amr/parts/00_basics/01_measurement-models.tex

@@ -2,5 +2,5 @@
 $\vec{z} = \vec{b}_C + s\mat{M} {_S}\vec{\omega} + \vec{b} + \vec{n} + \vec{o}$:
 $\vec{b}_C$ const bias, $\vec{b}$ time bias, $\mat{M}$ missal., $\vec{n} \sim \cN(\vec{0}, \mat{R})$ noise, ${_S}\omega$ corr. meas., $\vec{o}$ other infl.
 
-\hl{Finding}: Is in $W$-frame, so may need $\mat{T}_{BW}$ or $\mat{R}_{BW}$.
-Other model: $\vec{z} = \vec{h}(\vec{x}) + \vec{v}$, $\vec{h}(\vec{x})$ is pos of rob. dep. model
+\hl{Finding}: Is in $W$-frame: may need $\mat{T}_{BW}$ or $\mat{R}_{BW}$.
+Also see Sec.~\ref{sec:sensors}

electives/amr/parts/00_basics/03_error-propagation.tex

@@ -0,0 +1,3 @@
+\subsection{Error Propagation}
+For functions $\vec{f}(\vec{x}) = \mat{A}\vec{x}$, the \bi{linear error propagation}
+is given by $\Sigma^f = A \Sigma^x \A^\top$, with $\Sigma^x$ the uncertanty of $\vec{x}$ (covariance mat.)