[AMR] Start multi-sensor estimation

electives/others/amr/parts/03_multi-sensor-estimation/00_linearization.tex

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+\subsection{Linearization}
+$\vec{f}(\vec{x}) \approx \vec{f}(\vec{\overline{x}}) + \mat{J}_{\vec{f}} \big|_{x = \overline{x}}(\vec{x} - \vec{\overline{x}})$, $f'$, no vec in 1D; $\vec{\overline{x}}$ lin. p.
+
+\shortdefinition[Jac.] $\mat{J}_{\vec{f}}$ rows for eq of $\vec{f}$ cols for vars of each eq.
+
+Approximation using finite differences $\frac{f(\overline{x} + h) - f(\overline{x})}{h}$,\\
+or central differences (vector of $\frac{\vec{f}(\vec{\overline{x}}) + h_i \vec{e_i}}{h_i}$, with $\vec{e_i}$ unit vec)