I put together a little geolocation simulation. This one is really simple but its simple to illustrate basic concepts and the biggest sources of error (other than GPS error) in geolocation. This simulation is setup to model an aircraft flying toward a specific target and continually tracking that target, building up an estimate of the target's position. Here is the simulation result for radial error vs slant range to target. Each line represents a different amount of elevation angle error. The blue line was generated from an estimated distribution that depends on angle, with a mean of 3.4 milliradians, which seemed like a reasonable number based on some of the IMUs available. Keep in mind that for this simulation, position error (error from GPS) was not included but could easily be added later. If you’re interested in further information on this model check out this site http://groktron.com/uav-camera-geolocation-simulation-using-python/
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