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--- "James R. Van Zandt" jrvz@comcast wrote:

'The main technical obstacle is the calculation of
 all the partial derivatives.'

And there's the rub: many a good man has used up too
much of life wrestling with numerical differentiation
of small data sets - there's a high probability of
comprimising the accuracy of the original data with
the data smoothing routine normally used with
numerical differentiation. On balance, with sparse
data, I agree that the signal processing judgments
should go through the brain of a navigator, preferably
the one charged with the overall conduct of the
vessel.

With dense data, such as a train of GPS ranges being
generated many times per second and from which
statistics are 'easily' extracted, the problem becomes
more suitable for machine computation.

Mike Bradley

55 01 N 1 27 W


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