[AMR] Various fixes, error propagation, more explanations

electives/amr/parts/02_Sensors-Actuators/00_intro.tex

@@ -1,5 +1,7 @@
-\bi{Meas. Model}: $\vec{z} = \vec{h}(\vec{x}) + \vec{v} + \vec{o}$, with $\vec{h}(\vec{x})$ deterministic mean, 
-$\vec{v}$ zero-mean noise, $\vec{o}$ unmodelled effects, $\vec{x}$ true state
+\label{sec:sensors}
+\bi{Meas. Model}: $\vec{z} = \vec{h}(\vec{x}) + \vec{v} + \vec{o}$, with $\vec{h}(\vec{x})$ determ. mean,
+$\vec{v}$ zero-mean noise, $\vec{o}$ unmodelled effects, $\vec{x}$ true state.
+$\vec{h}(\vec{x})$ describes how to compute $x$ from known values.
 
 \bi{Motor encoders} Typ. 64-2048 incrm. per rev; Estim. rot