Tangente
Cuadrante 1
Δ𝑋 +
=
Δ𝑌 +
Cuadrante 2 + 180°
Δ𝑋 +
=
Δ𝑌 −
Cuadrante 3 +180°
Δ𝑋 −
=
Δ𝑌 −
Cuadrante 4+360°
Δ𝑋 −
=
Δ𝑌 +
A matriz derivadas
L correccion precición
R = At*A
dX= R-1*At*L
V= A*dX + L
X corr=x+V
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