Once is found, the vector is rearranged back into the 3x3 matrix form and the new error is calculated. If this error is within a specified value of the error for, the iteration can be ceased. If not, is calculated and the iteration is performed again. This is the GN method (Gauss-Newton-Levenberg-Marquardt Method).
, the iteration can be ceased. If not, 
is calculated and the iteration is performed again. This is the GN method (Gauss-Newton-Levenberg-Marquardt Method).
. To prevent this