private Matrix <double> CalculateMeasureErrorCovariance(Coordinate coordinate)
{
//TODO actual error matrix calculation
var speedx = VincentyEllipsoid.GetPointFromDistance(90, 0.0005, coordinate.Longitude, coordinate.Latitude);
var speedy = VincentyEllipsoid.GetPointFromDistance(0, 0.0005, coordinate.Longitude, coordinate.Latitude);
return(Matrix <double> .Build.DenseOfArray(new[, ]
{
{ coordinate.AccuracyOx() / 50, 0, 0, 0 },
{ 0, coordinate.AccuracyOy() / 50, 0, 0 },
{ 0, 0, (speedx.X - coordinate.Longitude) / 10, 0 },
{ 0, 0, 0, (speedy.Y - coordinate.Latitude) / 10 }
}));
}