\subsection{Measurement models}
$\vec{z} = \vec{b}_C + s\mat{M} {_S}\vec{\omega} + \vec{b} + \vec{n} + \vec{o}$:
$\vec{b}_C$ 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