-- numer ,s a- ,ceaon- cam-se anene orovsorovsona caon ,.,e-- , eac o wc na caon numer reerence sncororaens enre s more seccason ave nnewon reaeseneraoe saeeosonne, an e. an useu ssem an meone saeeosonn ss a a s scceemmaacc r reerreesseennaon oe aaraus. s a scemac reresenaon oe meo. sa eween an oservse a a snca ae cro-mou rereasenona oo ann o exa amn eexa omee m oe ao.as s a sca e carrer-aseor saees. sa eween an oserve an ae cro-mo reresenaon o an exame o aas receverars. ue carrer-aseor aura o saee- ss a a s scceemmaacc r reerreesseennaaoonn o o a ann e exxaammee o oee m meeoo.. s noneneeooownescron oereerre emomens oenvenon enae anerson smeennveenonoesereerre emomens,u raero . ver aro mae an usesnvenon. aarom ones sv orowew mn. oroer eaxaam souercnese...,, sae sesem canncueanor receve comun sseme.., a correconsen es, reerence saons, ec., a an oona one or more sensors. eraorereo, oona a recever, o -- saee s sownor examen.,e meo canncue recevn o oservaons a ars snareuenc ,eermnn correcons ors ao snecoanse s onnareuenc , an oonaeermnn a recever esmae,rece, e scse .em an co c mr orerec recoons oreera.unconoeermnee.., cacuae, nemac souon ns, wc can enaeeermnaon o a recever avaa ,ner w, an aor oe arccuroracere...o,w cmev-ere,ve,e sms-eemve a,n m- meeveo, e cca.n, oerwsee us auonomous orme. semo-amueonnsom oouse v sesecme aunaor meo cane use,or exame,n s, unmanne aera ncee..,or unmanne aera veces roocs, rar ssems , se-rvn cars, arcuura eumen, resaenasrco,r surrvaensn s sssemems,s a,u usoenromeovucsesr,u mcone, aas mceever, ec., o-ns evces, anor mae usen an oer su aons,nerne- secc exames,e ssemanor comonens ca ae acaon.n exerna ssem suc as a vecee.., , ne coueo an suae evcee.., ceon , car,ruc, ec., roo, racar, user neraae..,reo,e acnonore avne suaaa,e an ssoerm o, aner caanaroov sae sossemon, wneraean, .e ssem cane unseese.aaor conro anor navaon. avanaes.araons oeecnoo can coner severaenes anor arwareenerras,on vasr aannso or accoemmeconaoeo new canecacnooaeesnee.r.acn eren arova, ec. o new carrerreuencesn saee ,e aon, oerarwaree reace.or exame,ea osonn wou reurn saee oservaons a ars carware cane useo receve conver reuenc an a correconseneraor cane useo raerane r seaeurne oseer svaaeones onsoervaons corere ocsoernvse a a a seeco snreuence.., eneraee correcons,n aono or aern econreuenco e seconreuenc, ec.. aveo usn saee oservaons a o -- carrerase aneco an m,easeurneve cnarorresravaesessc sovaereenameaass seowwenenor a e cxoamue . were eacnes assocae w aeren saee as sownor examen o. were eac coor se corr men c esonso aura o saeeseece a rmesmoon receevvaero ann su ecac as c soaonr raerreseevnas aonesesrenan rece.ve crc vaeresessan a cces,. cces,. cces, ec.as a maxmum manu s,. cces,. aus, ouers,nererence eecs, ec. –ess e oevaon – asen . cces,. cces, ec. ec..s a r an. cces,. cces,. cces, correconsor areuence. esu, varans oeecnoo can use saee oservaons ., carrerreuenca areeermnease on recever w accu ara ac anerenreuencoeermne aoson o a eae,envenorsaveouonra,nnere.., wourn overme. reuenc coeaseweeners some varans, suc as wenener- enener-reuenc co an seconreuenc are susanae same, ecause oer co easoes no neeoeeermne or conseree.., as. rrecons anor saes, suc ase recever coc, can asore coe reur r, varans oeecnoo canecrease a comuaona or aermsenreoure an ccorreoceon csonevnerereaoro. cno arr sececoncs eoxarm a seec, enan correcons esmaoror a snereuencs necessare. onreuenc, on an esmaor uoa,ecreasn aroce., reucn a numer o saes o an ncreasn arocessn see uo arsosxor reuremen uo aoua, esmaor raeran an esmaoror arsrmae aacor o, usn a sne reuenc, ec..eae, vara euenc an an esmaoror a secon eneran anorssemnannes. o.eecnoo canmrove a scaa o nsance,n secc va ,ransmn,rovn, ec. correcons.or reue rans,e correcons cane convererom arso a secon e.., snucc o ansc ceonev.er.,n a a o csoerrrveacoonnssreonmer aaorrs rareeurencano a a e sac recever eacase saon econreuenc a ow, reovveer,r, v eacr.a. enes anor avanaes.ns oeecnoo can coner an oer suae o -- . aarom oness sem orow. mnoroer eaxaam souercnese...,, sae seseems, c raenernenccueanor receve comun sseme.., a correconseneraor e saons, ec., a an oona one or more sensors.e s ereo, oona a recever, o saee oservaonse sem canunconoeermne correcons oe recever ano.r., exeece e recever,eermneeoson e ssemreerearna u ssessem, anor can oerwseuncon. sources.aa sources cann a se oaa coece one or moreaa recever,e exerna scuseem:, a ree rreecneceve srsa, soenn,s eorcs.,e.a.,aoacasees, oanseo saare e.., reerence saons, saees, anor an oer suaeaa ons oaaa cane usencue: saee oservaonse. source.xames ase,oer, ec.ervenormaon suc a ., saee coe, carrer anor an oer s sseuorane ec., sensoraa, euae recaea. aeermne,ener verreeraunconsorac saee snase..,o v ae, ec. a se o saee oservaonsrom one or more saees.n erearnmsn,eeeoca roenceev.er.,e.. u,s anrocseesusoror oarn mee,asur uesmnen ca ernneereo can recevere..,e recever anenna,e exerna s rerase oe saee oservaons anor sensor reans.esem, ec.ase one communcaon w a comun ssem, canncue a recever canen rocessor, aosonn enne, auson enne comun sseme.., a comun ssem, anore recever an, co ec., canenerae w e n an suae manner.e recever canemun ssem cane arrane aone anenna or se o anenn a san-aoneevcee.., a san- comonen o an auomoeas, caneneraenoe rovere..,e a ncuen,e a c , aero vece, nauca vece, ec., canee..,eao, ceoomonen o,e a c o, ec. a userevcee.., smarone, manner. ne, smar wac, ec., anor cane conuren an suae rane ra e se o saee oservaons canncue oraaa,mesam, anor aena sua,a carereraa.aseea sea, c oo seaeasee oasae,rvsaeuonosra cnaneea aas,soocaeer waa, o -- m caenancauaee s.a.,e eee omesrersva, anonso cror arnes sounaneoa sa.e se o saee oservaons conseaone..,oaosonns aeesrom one or more saee sem ,eouo em , aavaonaee na sonnsem ,aeo,avaon w umnenoenseaavoanonav,uas,- eecnaeesem , eeo aona or aernavencuea..e se o saee oservaons can aseumenaonsem a surom an aumenaon sseme..,aee ,uroeaneosaonaravcao ansverereaumenaonsem unconaaeeumenaonsem ,mansaerr,vcearre ,u- aseumenaonsems suc asocareaumen,a eocn.roun ec., anor canncue an sem n varans oe ssem suaeaa. morean one anenna, ncun morean one recevere.., unconorov eac recever canee same oreren, wc can oe a e reunanc,rovenormaonne even o an ouaeo one oerwnseenunnacs,onr.ovore ex vaamae,on anerenor cross r ceceecvserseweenaa sources, anor saee oservaons assocae on cane conureo receve carrerreue e or more saee conseaons, one or more ,,n,ces,e..,a,,,,,,,a,n,,,ana,, e,aoc,,,, corresonno c.reuences, anor e a rnee srueaeaa. saee oservaons wncce s caanones usee..,oa csoer sreaco snaseree oeraservaunocnso mno receve recevere.., moe recever.e reerence saon s ae ae e useoerencee..,orm comnaon aee oservaons can o moe correconse.., use s w e recever oservaons, correcons, a correconseneraoroenerae a moe oe wn a anor can oerwsee use.e reerence saons areca m,resmo,samnc,e e oc.,e recevere.., wnm, m, m, e recever.e reerenu caneureraneresosancerom veneoraca reonece saons arereera srue sucaor a a recevers wn.e., cre,s cooun,sarnovcenc oe, a saeea,s co ounner re, ceornencneen sa, eocn.. o -- reoewreevnecre, saeo rnese arreencere seraaons a c sauns oanerwseesrue or arrane.e e.., wn aou m oe samee aa e samee reaveo seaeve es reaveo eac oer a ove seaeve,u canave an suae e reerence sanonosr r ceana rveecoe seaeve. anor a aerenreuenc eve saee oservaons ae same sownornsancen.,ero remereence sa roencesve car.n rsec aenveu sasreavee o exsaemrveas a ars saee carrerreuence..,reuenc, re aons . z,. z,. z, ec. weeuen recce,vera carneuenc, saee oservaons a a secon carrerreuen receve reuenc, . z, . z,ce...,rez,ue encc., reuenc, reerence saons ane recevers can r .owever,e oservaons. eceve an suae saee auxaraa aess oona sensors canuncono measure sensoraae.., sensoraa ocae w e exerna ssemanore recever.e e exerna c sanseme uosecaoonee.er.m,unseee w..,neeeneno osone snae soue oons oervaons snas suc asscosen aen caonumer , e ‘r saee e- ’ aona o-r wcsncororaens enre s reerence,u can cacuaone.. a, caercnuaavenee u ssaee voec asosr,s ese.m.a, snee-eu, correc, rene, ec.e or reconvere suc asscoseor ase amu, convere , e examen aen caonumer reerence, ec’. oe ‘ os-onro-me w saeces onsecrovraooranens enre s e sensors arereeran commu s anore oerwse use. e sensors cane: on-nocaaron we e comun ssem. exerna ssem,ner exerna ssem, on-oar a searae anor oerwse aenoe recever, searaerome recever, e a ssesnoscoarea wa canencue: recever. veoc, anuar acceeraon, manecen,er eca., oaaomee.r.,, accoeseerae.o.n,, aonsuoanr, o -- o amreneanon,, mmaaense.a.,aerem..a,mmaaeess,, oocna cmoauess,, ece.maneramuarre,sressure, ec. assocae w emaes ec., veoees, anor an oer ,eaures, sensors canncue one or more o:nera measure suaeaa.e roscoe, maneomeer, oomeere.. men un , acceeromeer, vsua oomeers suc as camera , wee sees weecs seern anes nsrumen,m s ec.,ressure sensors,sance measuremen , anora ane s sensore.., camera,erma camera, ec., , , saon, ec. cane sncsu uema e mee o. s r.e e,n asnor an e.x oenrena sse rmece covnernsec aneoor sene ssem, aase unconorove reunanc,rovenormaonne eve sors, wc can oe recevers or sensors,rove vaaon ano n o an ouaeo one sourcese..,e useo monor oreece r cross cecseweenaa oerwseuncon.e reaveoseeween ncomnaa sreams, anor recever anenna, eac senso eac recevere..,eween eac reeranown,u cane unnor, anor eac receversensorars saee oservaeo cnosm, reuernenc se ssaemwn. onr oeseerravaonusn,c seonnsosroaar,o ececs.s reaae.., recevers,e reerence saons, anore sensors.eeceve e ssem can:eermne correconse..,ase one reeren comun oservaons, convere..,ransormeween re ce saon saee correconrom arsreuenco a seconreu uencese.., swc a cacuae sae vecors, amues suc asase a enc,ereaae..,o aa, cacuaee receverosone..,meues, eca. assocae w e cacuae anner oe souone..,eroeconevese ceneroson, oaner rs, ec., cacuaee exerna sseme.,., veener rs,e osonn souone..,nemac souon,oson, ve ce, rover, ec. ec., correceaae.., correce sae oc, aue, acceeraon, as, amoserc eecs, e e oservaonsor coc errors,arware e comun ssem cc., anor canrocesseaan an suae manner. o aase saon, ec., reamnoeeoec.a., ce.ou.,o come euxnern,a ser svesre,m ne,wooree, ec. r,e acneveorr, o -- o a ceoruws ceomsurnuee..,eween arocessor coocae w a recever an recever anore ceo smse aseum sn. a sonssem,us craenerae com commumnucnaca c coueoe aa sources.or exame,e comun ssem cane oueo an suae comun ssemas coocaze we..,neraesnrueeween aoca anor exerna ssem an a remoe comun sseme.oe recever server, remoe comueran, ec..owever ., a cou comun comun ssem, aoca comun sse,e comun ssem cane a remoe neraene exerna ssem, ec.me.., coocae w e recever, eweenwo or more searae , anor can oerwseesruee.., conureoeeerm comne cuorn s rec ser onsve ser ,ms. con canurencuo ceon aver co croreconseneraore.., oservaonsrom arsreuenco a seco rrecons anor saee osonn ennee.., co nreuenc, correcons enne, ec., a oson, veoc, aue, enureoeermne anemac souon suc as ner monore c.or a recever or assocae exerna ssem, an eare even, conu.re., coon mounreor coor mreocnoonrs saore aeo oensearvaeaorens evoern a suocen aa canenraconaaseas,raconaaseas sa ,ner-reuens a as sa ,ner-reuenc carrerase sa , ec., anor an sc coe comonens. uae cacuae, comuee c,o ersrecmaones, eecn.eraeorunc coonrrsecooneermnee.., moe,er, canenerae correconsrom re s.e correconseneraor aserom ree erence saonaae..,seuorane anor carrer or,as, ec.,r aennceo sr maeoansa,aoe.a., r ceorerreecncoen ssaaonaeo.s.,o snase, ocee coc, saee anennae, recevere, amanacaa, ec.,u ma ao aneoan, enerae correcons usn sensoraa, saee na or aernave recever, oservaonse.., aseece a a e anor a cnnuaa. correcons orrecons arereera sae sace reresenaon correcons cea.n., a erroron easm oares a seernaaravee errnocru soeurcees.oowesveerrv,aoen sace o -- r eerrorres seonuraceon correconse.., aum sum o errors resunrom one or more ea,onos suecrc a as svaanece,er coocos, saerecee oar, e, scaee snaas,onoserc correconor a comnaon o saees,reuences,. a snucor as snroavs,e an asor a c raane an suae correcon ne can oeraeno ar m eaxnam re nere s,rese men ar coaroroen ac. coornresceneraoranor a correcons monor suc as ers, a ons enneanor comonensereo monor, correconmaoas meornc moro,eer, correconeneraor, reerence oservaon enne, ec. as meaaa monor, moen enne, rea ‘ scosen aen caonumer , e e-- or aen ca-onumer , e ‘ ’ neces enr ’e-- , eac o wcsncororae r e s reerence.n anoerreae anor comnae w e cornrec exoanms uesn exame, a correconseneraor canenerae correconse.., aen caonu amauerssan mo,eornesan ‘cen a manner asscosen - wcnncororaens e ’e- saon saee oservaonso esmaneree correcso rnese.rennc aeorrorceess reerence comnae w erecen exames,e correc ae anor ncue a eneraor anor c onseneraor canurer vrua reerence saon roamneenerae c soarreeceon osseorrvansonansc assocae w a scosen aen caonumer , en a manner as ’ee ‘ wcnncororaens e -- . eo. nre s reerence. saee oservas sonosw an aorrs ex samnaerneuen.c,e, meeeromn cannncue c recevn or a secon snareuenc , an oonae orrecons osonase one correcons . ermnn a recever o -- correcone meoreeraunconsoeermne correcons.e accurac o mms arereera useoeermne -accurace.., w an ranesereewe, mm, cm, cm, cm, cm, cm, cm, m, m, vaues or an ^{-4 -5} en, ec. a ^-6 nor ^-7 -ner ^-8 e.., w ^-9 aoaner rsess osonn sro,uonsr,e..,nerm,ac sr, r, r, ec. recever veoc, see, aue, acceeraoouons suc asoson,sacemen, oerwsee usee..,oeer n, ec..owever,e correcons can exerna ssem, ec mne aosonn souonor a recever, rover, e m.e anooarneo mr seeos cearneo o cearwnseeuncon. mee.., w saee oservaon rece, erormen rea or near-rea recever oeraon, ec.,eaee..,e cor w exerna ssem anor osonn souoneermnaon, arecons canereeermneoruure mn.e meoanor sesereon coarn caneeeerorme w an suae erave,n resonseo arere.., rece o rorme once, reeae, an oeraor, ec., anor w an su saee oservaons, reuesrom eec a se o saeceevne snea ssa, weeree oa eascerev saare eonusenc an e snausno acr ssom onsno. measure anor e saee oservaons cane receve a a reerence cae w a saee. comun sseme.., were saee oservaon saon, a recever, a rom aaaase, anor a an suae enons cane sore anor rereve snas assocae we..,rom ars s.n anusrave exame, saee recever an saee snas assocae wee. o saees are receve a receve a seo one or more ree .,rom a secon se o saees are saees canee same,ers srence saons.ers ane secon se o se o saees,e secon se e o saees cane a src suse oe secon saees,ers se o saees o ca saees cane a src suse oers se o se o saees an one or nncue one or more saeesa aren secon anorers an seco more saeesa are none secon se o saees, reaonsseweenn se o saees canncue an suae saees anor receve saee o saees.n varaons os exame,e recever can snas a, ec. arsser svaaeonse arsesouceance we..,ers.. c,arerrevrereruoemn,c anracne re saereencee o -- sraaconns sa caen reece svnea sase a, eec o.s aer sveacoonns s aasseocaeere wuence.e.,..,erverom, reuenc.owever,e reerence saons ane r secon carrer an suae saee oservaons.aee snas ecevers can receve common eoc,u cane receveor an s arereera receveor a cacuae, esmeaeer,mennnerae, ec. correco cnu osae eo rreconsucnac oro r cane nsaove e uemeerm.nee.., r aerceevreerenraeermeenrmnn ae a re ccoerrveecroonssoennenra soorueo.n.,. oese eran o cor arecons comun server, oeran on arocessor coocae w a re n a cou on an exerna ssemrocessor, oeran on a c cever, oeran correcons caneeermne usn a en server, ec..owever,e arereeraeermne usn a sen suae comonen.e correcons one or more saee o reerence saon oservaonse.., a se o oweve oservaons receve one or more reerence saons. rorr,e cor correcons can aona or aernaveeeermne usn normaon.recons, rover oservaons, sensoraa, anor an suaeaa or carreraseeas corre cocrroencson asnroerer caoencasu ceorreacseonsasc correconse.., correcons.e correcons can aona or aernaveoneaseas correconse.., carreraseas correcons an cuerueas common ose vaues,neer amue or coeas correconsncun amoserceae..,on s,, coc correcons, or correcons, oa eecron cou osereea suc as sanoa eecron coun, verca roocsoner n,orzona eecron coun,onoserc reracon, ec. corres.cea suc asrosacea, weea, ec. ec., anor an suae coercroemcoonsese c.o.r,e r weceore cor ns, eer cre .ecno . en ors wro a erre veerr,mrese e arrae mo sea coee s rre acnace r onsse crres auenea seonarae, aernavee oservaon sae reresenaon correcon aona or erms caneumeoeer as an oservaon s nse.., were error anor an suae correcons. uc asor a vrua reerence saon o -- canncueeser smownor examen.,eermnne correcons se o reerence sanne correconsor arsreuenc e.., usn a eermnn an amoon oservaons assocae w ersreuenc, oona correcons assocaes werceearorersreuenc , converne seconreuenc , anranssreuenco correcons assocae w a ersreuenc, assocae wme sne correconse.., assocae w e.., exerna ssem, moe rov econreuenc, ec.o a recever e correcons canncueer,e eec.. ona or aernave,eermnn reuence.., usne se o reerermnne correconsore secon reuenc, converne se nce saon oservaons assocae w ers reuen acno su reaer o reerence saon oservaons assocae w ers anor ence saon oservaons assocae w e seconreuenc, ec. a ee se cs.orrecons caneeermnee..,n , , ec. usn aamanere.., exeneamaner, unsceneamaner,scrmnave amauasnser, aaveamaner,aman-ucer,ramaner, ec., correcoanrocess, aarceer, anor usn an suae esmaor.e o cservanosns cane..,e weeererm anne es umsanor unoreeren cocerrec anonsoro uensco nmoneer seancee oer aorem noneeer seanecee o or csoemrvanoens,, e wc.ere aneo or usesrnvaonserernocvee anoore c eosmmanor saee oservaonse.., sneerence saee oservaonsewee e sneerence saee oservaonseweenreuence n recevers, saee oservaonseween eocs, sneerence ss, sneerence eween saees.oue-erence saee oservaonaee oservaons reuences,oue-erence saee oserv seween recevers an oue-erence saee oserva aonseween recevers an eocs, erence saee oservaon onseweenreuences an eocs,oue saee oservaonse seween recevers an saees,oueerence oservaonsewe weenreuences an saees,reerence saee oservaon en receversreuences an eocs, ec. comne saee comnaons, w suce-a anse coomornmaono,no nsarreorwe--arenee c coommnnaaoonn,s, ureao-mweer-arneee o -- c coamranaonon co,menaouornn,e e-cena comnaon,rou an aseonoserc correconse.n., va ornaen osr w.er eec a..aussanrocesss useoeermnee uncone. more comonen oe correcons, a covarance rocess can.,nceunen con as raenauonncsons,eowenenomwao oer. m.,orneeanr,uusaoreaussan smooonomas, ec.uncons, we noseunco ac,ecewse eaunconuncons, suare exon ns,ronecereaorrac rownanuncons,e. enauncons,rnsen-enece.., vaue oeroc ., w varaerermsa areeenen one curren uncons, raonaesse,..,e raneornauncuaonrsa,caunrncounnsc,ons,esseunucnconosn,s,eroc newor covaranceuncons, anor an suae n n aeura secc exame, a covaranceunconor a saee anor re rs saons, moe recever, ec. err cevere.., reerence c ^{oc error, or} orsuc as a coeaseas, carreraseas, ^ _{^ ^^} ^er _w ^ror _er ^c _e ^a _z ⁿ _an ^{e an} _{z ar} ^r _e ^ns _w ^e _o ⁿ _o - _s ^{enecuncon suc as: ^^" ^^ ^^} ^^ _{i ervaons corresonn} varance an ^^ _!""#" areerarameers wc reresene “memor e”xane saon coc aneme scae wcncaesow muc secc exame sea, ao cno cvaorcancaes ourncowonuocr a saee-coer arenaeosr r reesecve.n a secon saons, moe recever, ec. err cevere.., reerence c ^{oc error, or err} orsuc as a coeaseas, carrerase ^or _o ^c _w ^a _e ⁿ _ver ^e _, ^a _a ^s _n ^ua _s ^r _u ^e _a ^ex _e ^on _co ^en _var ^a _an ^u _c ⁿ _e ^c _u ^o _n ⁿ _c ^su _o ^c _n ^{as ^^" ^^ ^^} canncueene rremanen va armans,eermnn amoserc correconse..,n secc exam oserc correcons usn aaussan moe.n ars r ^{oosere cov} e ^a , ^r a ^a n ^nce am ^u o ⁿ s ^co e ⁿ rc ^ca c ⁿ ovar ^e a ^a nc ^s e ^u u ^a n ^re con ^aus e ^s . ^a . ⁿ , a ^u n ⁿ onosere or _{^^" ^^ ^^ ^^ ^^ ^^" ^^ ^^ ^^ ^^'} ^{con suc} i rresonso asanceunconeweenewoerceons, an, a _{i an} , co n,, o -- c eoxarrmeseo,n ans ao amoe erenceeweenewoerceons.n a secon secc c ^ovaranceu s ^c e ^a r ⁿ c ^e co ^a v ⁿ ara ^r n ⁿ c ^s e ^en u-nco ^e n ^ne e ^c .., anonosere or _{^^ ^^} ^unc _{^^' ^} ^o _^ ⁿ _{^^ ^^} ^mx o _n r _a aro ⁿ o _r s ^a _s ce ^o _e r ^v _c ^{uncon suc as: ^^ ^^ ^^} e ^a c ^r o _c av ⁿ a _e cr _x e _a a _m n ^u ce ⁿ _e cu _, n _a oc _n n _a o ^s n ^u _m c _o ca _s n ^as _e :e _r a ^{^^} _c ro ^{^} u ^{^} c ^{^^} o a ^{^^} w _w o _{ere ^^ ^^ ^^ c} n _an s _r a _e ce _r . _e ^ _s ^{^^} ^ _{en e} weree an oe a reresene enr seu aa wc nersecse see.., exame, an amo e manuncon.n aour secc u _{ncons suc a} s _s: e _^ r _^ c covaran _" c _^^ e _^ u _^ ncon can _^ e _^ a c _" o _^^ nvo _^^ uon _^ o were ^^ _{^" ^^ ^^} covaranceuncons cane anrnsen-enecuncon as: w oereeercse aonesr.arameer corresonno mean oe covaranceuncon can ne secc ^corresonsoe even: ^^ ^^ ^^ ^^ were ^ _{^ corres} o _o u _n c _s ^me ar _o ^{an, a corresonso an} mo _e e _v , _au e _e uc _a m _a o _mo e, _e e _e. o _. u _, o _e a _o r _u o _c a _a c _r as _mo on _e os _o erc oecaao cnorrecnon a m soxe secc ex,a emc.e w,oue amveore zenonosereea rocess uses covarancesa moe: aero-ssaeerce moasee.nc.,u eveesn a w - sareecsoesn, o cnoec soererro sauecse,, a ec mu-se moee.., mue sesor a amosercea cane oerwse. m,o aneeerea u csnrce asaamnacen.oewrever,e esmaor, accor or roacasr no were s n some varaouonse, eac.. mae neece o -- eermneno ar m exaanmnere a,sescose conrrecons,anoer co ‘monensereo cane --, aen caonumer , e ‘ ’e , e ‘’e--, anor aen caonumer s reerence.’e-- , eac o wcsncororaens enre onovweervenr,ee..,ran csororremcnons caeneee cromrrenceonns a ansso mcaanner. ersreuenco correcons assocae w a seconr e w oenerae correconsor a seconr euencuncons rocess saee ose euence.., wou oeran a moeo sae rvaons assocae w e seconreuenc, wou usn correceon oss aerrevareonesra asso cconaveere weweeen serceonuencreeuenc, ec..e e..,eenn on a raoeweener s accorno an euaon ereuences, euences,eenn on aerenceeween correconsn caenenee cnonvereeenenwee onnreeuerencueesnc usesn, e mc.a.owever,e usn an esmaore..,aussanroces cneearnn, anorn an manne s,amaner, ec., usn aoo-uae, near ornversecar. ne,a orn wreureencuencee snucen as c coorreecoansse..,ermsaeen reracon, ec. we convere. ,aseas,onoserc ao noe owever,reuencneenenermse..,erms reuenceeneennce o snucre asu senucare an ororeereonrn osnanrcee ourenc, w a nonnear ea, reavsc eecs, ec. cane con coc,rooserc anoraseas ca vere.or exame, a cacuae coeas enerae usn ne convererom arsreuence..,aeas was onvaearrnomeo a secon corrreeuenc. correconsromersre cons canncue converne amosercea eec uencoe seconreuenc we neecn eow cancues c.oeermcsenaseaenee onn oen a amroesueenrcc seuaaree. a.,n as swowenn o -- c woomune w eca sma amoserceaerm are oen ne ee.., mmac aosonn souonessan aresosance suc as mm, aernma,ve c,m,e c comnv,e ersc.on an oeereore ca cnorreec neonesc cean. acocwouenver, aona or ea eecse..,urneros o onoserc acv, weor amoserc eweeners ane seconreuenc excees ares neerence nsance, a ssemerormne meo cou o o erence, ec..or as a moea accounsor amose eraenwoor more moes suc erms wmac aosonnsanrc eecse.., wene amosercea eonosere acvsreaerace moreaneresosance, wen neecse amoserc eecse..n areso acv, ec. an a moea osonnsanceessane, wrene amoserceaerms wmac a sessan areso acv, ec esosance, weneonosere acv oeraen an suae m ..owever,e ssemerormne meo can reuences, a moeao coneveer.s., a mo ceorraec coonnvseresw saeeenree ouseenrcvaes,o anseween comuese correcons ae seconreuenc comnn mo saea oservaons ae seconreuenc w correconseermne ee reuenc an suseuen convereoe seconreuenc, aers ers an seconreuenc ec.. r areca erenreuences.e e.s., ane srecon a mroesu aenocues are,re,era,, wn aresoreuenc erence a ,,,, ec.z.owever,ers en.., se wcoennreeuaesnceesw ceaenneerreue mnocreesaavne ae saresoreareerueannc arerence sa suc asern essan.,.,.,., ec. cces over ameeso o secons, mnues,ours,as, ec. anor canave a scae eae,ers an seconreuences areree n suae reaons. ane..,o wnean,o wneowrear wan,noe w samereuenc an,o wnean,reuencans aocaeoeronauncae uaeor asvemaonervces ,reuencans aocaeoaoavaonaee erensreuen,c eca.n.soew.e.,v wer,eneersas anew seeecnonerreeuueenncceess caanve ae s wan o -- crecaeser ovearn a amree sscaoe o s saecon ssu, mcn auses,eronurs,aessan.,.,.,., ec. waeo sase aerss, aurssrareveu eexnacm caenee.n.,ore sas ae, ec ore.. oservaons assocae e seconreuenc canee oerreuenc reuencans an usrave exame,ers or seconr an.n varaons oers reuencan.n a seconusraeuenc caneneaoc anor assocae weou s ve examee..,or saee oservaons ane seconr aees,ersreuenc canene reuencan a euenc canene reuencanor vce versa.owever, conrre scuoanse asrssoc aane sec wonrweoueonrce mso craenree uuseen.c ona, or aernave, comneoeermne correcon es cane converee.., correcons assocae w ars s assocae w arreuenc, assocae w or m reuenc cane convereo correcons num orereuences, anor correcons assocae w an numeerr o orreeuueenncceess cane convereo correcons assocae w an osance sucn a asr cs. m,umsrave exame, a saeeseuorane snae..,n uns reae , m, ec.orreuencan ^^ _& wreuenc ^^ _;& cane a o a saeeseuorane snaorreuencan ^^wreuenc ^ scc _^^ ^e noarn ; _: ^s s ^eu e. e ^o .,o r ^a n: s ⁿ we e _u ^{e s} o _ra ^{nae..,n un} _: ^{s o} _., ^s _n ^a _u ⁿ _n ^ce _s ^su _o ^{c a} _s ^{s c} _a ^m orre _: ^ ^^se ^^ _& , were ^^ _{; nce suc as cm,m, m,3} s _{^^, ^^seonoserceaor ^^e.} ^{,m, m, ec.orreuenc} w ^^. _n o _e we _{as assocae w ^^&, an ^^ seseuorane} assocae w roosver,n some varaons, eecse.., aernavee con erceas, anor oer eecs can aona or n uns o numn aer s oescoe cnre. cesu osrrraacveo enxaam ccee,s a soaee carrerase sna ^^ e.., cane reaeo a saee car rreuenc ^^ _& wreuenc ^^ _;& accorno rerase snaorreuenc ^^ _: wreuenc ^^ " -- worere ^^s ^^eseusoreanoneo snae..,n uns osance suc as cm,m, m, ec. m, m, seseusoerarnceeaasore ^.^ _: .,e. co.,en unas,s c osance suc as cm, assocae w ^^se carreras oeaseas, aseas ^^, an eas assocae w ^^, ^^se n a vacuum,n amosere, ec.. cns vaer sanees o osues.r.,anve exam me,s suc a _{se snaor ^^ cane comue accorno ^^} a n some varaons,eonoserceaer _{^^ ^^} a _s ss _n u _a me _can oe _e s _c m _o a _m s _u uc _e a _a s _cc e _o ssan aoum. cces sucae carrerase varaons,rooserc ee _{rno owever,n} anor oer eecs can acosnae. o.,r eas, rueas ^^ suc as a arernavee consere. ^{an co} _A ue carreraseaseweene oserve ^{mue carrer} _w ^{ase caneeermne ase..,e a} _{ereeerm assocae w e} ^{ne as ^^ ^^ ^^ se} _o ^rm _wev ^ca _e ⁿ _r,n ^e _s ^r _o ^e _m ^r _e ^e _v ^s _a ^e _r ⁿ _a ^e _on ^as _s ^e _e ^.. _o ^, _no ^e _s ^ne _erc ^{as ^^ ^^ "} w cance weween saeeerueeraesncone suce. a.s,n varans wereerueas ouereuenc erencn,rereuenc ere sncnne, erec.uennc varanersen wcner, erueas cane consere aroxmae cons e or assumen oer err an anneenen esmae correcon assocae wors, a as sroswnreoru eexnacmen. ec., a carreraseas ^{correcons assocae w a seconreuenc} an ^an can ^acc e ^or co ⁿ nver ^o: e ^{^^} o a ^{^^} w _{were e} an _a ^^ _s:e e. _a ., _s n _co u _r n _rec s o _on en _e.., s _a u _s c as cm,m, m, ec., o -- ^^s suec aass cem,ams c,o mrr,e ecc.on, ^^ assoscaee car wrereuencan ^^ _& e..,n uns o ns oz, ^^ e carrerre _;: rreuenc assocae w ^^ _: eseuoranea uenc assocae w ^^ _& e..,n uns oz, exaanm ^^ _: e, a cnan cnscues s co eer aerec n oone. neer ae. m., c.,one u unass c er oor m mrec eso ..n .,ar asaso .oc ona wse o w eversusrave amuerm caneeermnee.., aocae asar oe ,eneer amu anor can oerwsee aocae o carreraseneer error sae suc as a coc reermnee.., wn a common ncue an a error sae. ona anor aernave varaons were ^^s amnoosnosercerceaeaermer suc as reeueeenrcm ^n^ _: ee.n., ann u mnansn oersancem suce. a.s, m.owever,e carreraseas can reuence..n, aerrsreuus. ernacv ceo exeamase, ca an coe ueseasor coorrec aonrso ar a sne roeuenc saee sn n secon c ae.., ^^ eseuorane sreruecoroannee..,a cso ceorras an ^^ an exame caneveraecon assocae wreuencan ^^.s ewee e anoreneromeacaener-reuenc coeases e asonreers o aner c soercroencorne suaenecsees. a.r,e re sucesveana e same soe ose can an euaon smaroe aove r coc sae.n oer varaons, o conver euaon useoraseas correcon cane use anoer var aa coone,eas co coerrecaso cnorrreocmo an crosnverreuenco a seconreuenc.n e ^{rmsaeen on anonosercea s} son caneen on anor ^ _{^^^s anonoserceaerme.., as cacu} ^u _a ^c _e ^as: :ee _e r _. m _., ne _{n u} n _n an _{s o} m _{sance suc as m.owever,e coeas correcone} o coeaseeas a anoavnener caru. rserravaese examasreosm ca onneer ceomuennceoe a.n.o,oe cronrveerue enacc o -- anas coorr uresceonnsoo aaonereen..,r on conver one o coeas correcon or carrerase correcon, coeas correceonuen cacn. ooewrewvesre,eeeaser cmorrneecone.e..,aseas oservaons suc asseuorane, carrer .,e saee e ^{renreuenc suc as accorno} ec. cane convereo e _c. correconsor cane usene moesoeneraee monornene someer c ve oan rrrear cne osu n,en s wecer. cmn cannunceo correcons canncue resoroa o occurrence aoen noeece..,eec w a mac an accurac,ner, ava aauneaae.., wc can reuenc.e cor a , ec. oe correcons a one or more eneraore.., anner mroencoonrs o aree correreecraone mneornaoorre,u canee correcon an suae comonen.or exame, arueas ca monore oservaonse.., assocae w a s ne monoreor saee or more m use o reerence saons, assocae w one susa oe recevers, ec.oeermne weererueass ccesn sa, ec s..ane ree.a.e, va vraersans,es asaenre ancoeue.w ceecne ssr,. cces mn,. saee sneerencn cane mon aee oservaonse.., srasrom.owever,e oreoeermneowareerence n a ma correcons cane monoren an mannere.., ‘ nner asscosen aen- caonumer , e e-- wcsnco ’ n some varansrasor saoens enre s reerence. correcons cane useoe wnor examen.,eeermne correcons, ec. cane unseeraeoene croarreec snonseec. s.,aeecoem oossee correcons, oservaons, ec. suc asseuorane, ca rvaons, ocaon,ca oneas rrerase,oer, ec.or an arrar reerenc no coocae w aase saon, suc asor a vrua ,e saoen ‘ornsance asscosen aen caonumer o -- reerence.or ex’amee-- wcsncororaens enre s cane co ,e correconseermne ae seconreuence..,n oservaonsrommnaese se.a.,o wns, erce.ueoncenneraeeenen c coorrrreeccoonnss,e w.., s saaee oservaonsor w a ocaon.ns exame,ease saon saeee oservaons mae aersreuenc an cane convereoe sece reuence..,n a manner anaoousoaescre aove.n on e correcons caneeneraeorersreuenc oer exames, eermne correcons w ease saon oserva e.., comnne seconreuence..,n a manner an ons anen convereoe correcons can oer aoousoaescre aove.owever,e ransmnwseeeermne anor convereeweenreuences. correconsoe e rec correcons reeraunconsorove canerove over evere.., moe recever.e correcons nerne, saee,ee aconm smuunacae coonm,m ecu.n.caeonn coer.re.,c wornes orro wvreeesos a suc as reeceecvesra asre sorweneraor ex aasmsoceaen w. a. saorenseanrece,u wencen aae recev recever anor receves saee oservaons assocae w er erracs correcons arerove aersreuencan smarsreuenc,e owever,e correcons caneransm or oerreuences. recever, or arocessorereo eor a snereuence..,e correconso aerenreu or coocaeerew can convere caneransmewer enc, correconsor aura oreuences e use, anor anee recever caneermnee correconso correconransmsso suae correcons caneransme.e communcano n cane meae aaewa, rouer, anor an suae scose n ssaemensuc acsa aonum coerrrecons communcaon ssem as ncororaesns enre s ree ’,ee- ‘- wc eermnne recreenvceer. uncons osonn souon reera oson, veoocee,rm aneuee.,.,m ese,m eac.e, o cacueae, ec. rec aevenre.maec souo rneceev.e.r, o -- oossonn souonsreera eermne usn aosonn ennee.., a osoonnnn e ennne o a comun ssem coocae w e recever, a cou receverosonne, ec.,u caneeermne an suae comonen.e assocae wne s seouonsreera eermne usn saee oservaons oservaons acurcon snareuence..,e snareuenc o saee souon can aoena ore a recever.owever,e receverosonn assocae w ers snaernarveeeermne usn saee oservaons oservaons measure a re euence..,e samereuenc as saee oreuences, ano erence saon, ar snareuenc, a comnaon er an rec seuvaereo ssaeonen o ssoeurvaoons cane use. correce saee oservaonse..,e recnsreeraeermne usn n correce usne correconse ever saee oservaons receve receverosonn souon caneeneermraneen us .owever,e oservaonse.., uncorrece saee oservaonn an suae saee oservaons suc as sneerence saee oservaos erence saee erence saee oservaonseweenre nseween recevers, sne oservaonseween eocs, sneeruences, sneerence saee saees,oue-erence saee oseence saee oservaonseween oue-erence saee rvaonseween recevers anreuences, erence saee os oservaonseween recevers an eocs,oue- saee oser ervaonseweenreuences an eocs,oueerence oserva vaonseween recevers an saees,oueerence saee oservaoonnseweenreuences an saees,re erence saee oser seween receversreuences an eocs, ec. comne saee comvnaaoonns, w suce-a anse coomornmaono,no nsarreorwe--arenee c coommnnaaoonn,s, ureao-mweer-ree c comnaon,eourne- ena comnaon,rou an aseonosearnec oaraon comnaon, ec. ec..aransa use sne-erence saee asserevsae voanrsane.s. w,e rweseuen sna ceoee-aseerenacsn an caonr carrorvere aaseecnacsa o asvanae nerreuencas,erena coeases cancenor susana cese.., suc asomac aosonn souonessan areso amoun wanceenne o -- neer sraeeuenec osaesrvsa soanse c saunc aesersescorarnec aerees.o.,racon o a cce overme. saee oservaonsoeermnee rec eore aerrocessese n an esmaorsuc as aama everosonn souon, correce er,arec ees esmmaor ner, exeneamaner, unsceneaman nuo ,aussanrocess, ec. weree correcons cane an eaoosr, aonnnor s coaun ooerwsee correce. e.., amu resove car nsreera eermne usn carrerase eermne usnseuorarerase,u can aona or aernavee eermnneosonnn seo,oer, anor an suae saee snas. amue..,o aoanmonuon canncueeermnne carrerase n aen caonuerrecso,n,oneeer-recs-on, e ecn. suce a “sscose aen caonume ” orn wcsncororaens en-r , e-- ene “ re s reerence,eermnn a se, o” eaoca o ase amu oeses,eermnn a n ro se oneerase amu oeses vamaee see s oeoanase amu oeses,erormn oessesno n o sonmee vearase amuesoeses, anor an suae ses. usn sensoruson rans o ,eosonn souon caneeermne secc exame, a see.ns.,oruussonn s sesnesmor caanan wcue: a se snaseoree. o.,s aenrvaon sse.ns a acceeromeer,roscoe, maneomeer, vsua oom sor, camera, ec., a recevere.. eer, weec, seern ane, euson enne , a anenna, auson enne, a sensor enne. arameers o reera unconsoeermnee.., esmaenemac ssemac sensore e mrroovrn correoco ann, eco.r. senesours erornor en cornrecone..,as esmaes, amaner, exeneamaner, unsce e canncue aere.., a e..,oen wc sensor err neamaner, ec., an error moe ec., ame s orso esmae,owo esmaee sensor errors, aa sre ncronzer e.., auer, wc canunconoemora an unconaom rses wove a caerrreenraaesnec am, au,eoersmonnenne enmanecea.ra.m, weercsr coamn o -- reeerauanca,o ansoer,e eecr.m,n aen aorne amna scuaaraem ceoemr oonens.e sensor enne e sensoraa.e sensor enne canncu e movnoase on scanamc moeaesscree a mecanzaon moee..,u on a eermnenemacaram ze, a se o euaons or reaonsso ne eersrom sensoraa, anneraore.., a numerca nemraaocna mraomeeerosrr aom anrevoeus mecneamnazacoanra mmoeeer,ooreoeramne curren nemacarameerso a currenme, ec., an aerevous correc sensor mea error comensaore.., wc can exeneamansureemr,en unssceonre errora esmamnaese,r a, ece.r,e a.n.,o ar aanman suaere, c aonmoorneenrso.rmo awnev seur,aee se ansoorrusmosno sseeemrm canncue an suae comonens scoseornsancen aen caon nunmeeeroson,n soueo ‘ne.., as e-- anor aen caon numer , e ‘ ’ ncororaens enr ’e - - , eac o wcs n a secec exs reerence. conureo rec ame, a meo canncueanor a ssem cane ura o reereevn a se o saee snasrace recevers a a w ars s nce saons, weree se o saee snas areransme ase an canrarerreuaesnec m, weaseureremeenrss a sesso ocae w sae ae surnaas co om srase coe eermnn a saee coeas an a saee carreraseas a ees saee oeura o saeesase oners se o sasseocae w eac eermnnransorme saee coeas anransor e snas an asransormne saee coeas ane me saee carrerase rs snareuenco a secon s saee carreraseasrome reuenc.n varaons os snareuenca ersromers sna secon snareuenc c ecc exameers snareuenc ane secc exam ane wn a commonreuencan.n varaons os z or .eezrs an s wnaerreenuenec sec coannn scunae are caurrenercr ceomuenrcses o a carr.er o -- roesueonncn o souo.n oze o rorver co.mrsezs. an re vcaervaero cnosc o sase s wecerecn exaem re,e coc sae accounsor a common osene saee carr ecever n varaons os secc exame,eosonn s eraseween saees. erence saee oservaonseween ouon caneeermne usn saee snas, wereneerence sa seaee snas oe secon se o e saee carreraseween s e snas removee common osen evaone.., sa oeweeaees.n varaons os secc exame, a measure saee ca neransorme saee carreraseas an a cces.n v rreraseas ae secon snareuenc cane a mos. a saee, mareaasuornesm oenssr somecce e sxaaemee, c wanene execueveaoronm exceee ses o. c cocesor saee snas.n varaons os secc exame,eermnne rrece saee coeas aneransorme saee carrerasea ransorme amosercea conruonoeransorme saees can excue an ransorme saee carreraseas.n varaons os coeas ane ^{ransorme saee carreraseas caneeermne acc} secc e w _{ere ^^ se saee carreraseas aers} ^or _s ⁿ _na ^{o ^^ ^^} a ⁿ rs s ^or n ^w a ^er r ^e e ⁿ uen ^e c carreraseas,s secon snareuenc, r, ^a c ^ns s ^or e see o , an ₁ ^^se saee coease _{^^ ^^ weren ^^} s _s ^m ae _e ^e _r ^s e _a ^{aee coe asseermne accorno:} c _n o _so e _rm a _e s a _s n _ae e _e s _{coeaseas.n varaons} eermne usn aaussanrocess u aee carreraseas cane e meos oereesrrn a suare exonena covaranceuncon. emoe anormemene aeae emomen an varaonsereo cane comuer-reaae meum snar as a macne conureo receve a cane execu sorn comuer-reaaensrucons.ensrucons eneer comuer-execuae comonensnerae w a ssemor comu aon.e comuer-reaae meum cane sore on an suae evceser-re oarae m,eaa suc as s, s,as memor, s, oca execuae comonensrrerevreas,o aenerrave osr, a or anca suona seecevccer.oceseso cor,muu aenr- o -- s aueranaevee ocra aeoanrawa erxe orarwarermware comnaonevce can s useerecueensrucons. “aeou,” en, "susana" or oer wors o aroxmaone.., o “aroxmae,” ec. cane wn areeermne errorreso or ,ran,ce o a, mer,c, com, eoc.n oen a, r oere orenecre re, oerrenec oeee.r.w, wsenner.re,.,., momens oe ssem anor me e. comnaon a o canncue ever meo nermuaon oe varous ssem comonens ane varous escreroecreessnes c,a wneereenr oonrmee or m asornecnrosnaonucses oe..e meo anorrocesses e..,narae, orn an oer suae , seuena, concurren oe ssems, eemen orer anor usn one or morensances s aersosn, a snoer ennees ares wcr reecoenren. escron anromeures an cams, mo zeromerevouseae oereerre emomens oenven caons an canes cane mae snvenoneneneoown camso.n wouearnrome scoe o o