  The paper deals with the error analysis of a navigation algorithm that uses
as input a sequence of images acquired by a moving camera and a Digital Terrain
Map (DTM) of the region been imaged by the camera during the motion. The main
sources of error are more or less straightforward to identify: camera
resolution, structure of the observed terrain and DTM accuracy, field of view
and camera trajectory. After characterizing and modeling these error sources in
the framework of the CDTM algorithm, a closed form expression for their effect
on the pose and motion errors of the camera can be found. The analytic
expression provides a priori measurements for the accuracy in terms of the
parameters mentioned above.
