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this book can help you to get a better performance in the gps development

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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><i>u</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">3.2735e-01</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><i>r</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">2.6519e+07</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><i>i</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">9.7477e-01</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><img src="a24b6fe169fabcfefee6e441f2fd5dea.gif" border="0" alt="0324-01.GIF" width="17" height="19" /></font></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">2.5111e+07</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><img src="8dd6a81d5ecf92bc223e568887102b40.gif" border="0" alt="0324-02.GIF" width="20" height="20" /></font></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">8.5267e+06</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Symbol" size="2">W</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>k</i></sub></font></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">-2.7116e+01</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">rad</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><i>x</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">-5.67841101e+06</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><i>y</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
  <td colspan="3" height="1"></td>
  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">-2.49239629e+07</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2"><i>z</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>k</sub></font></i></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="2" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">7.05651887e+06</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">m</font></td></tr></table></td></tr></table></td></tr></table><br /><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">The <i>F</i> in this equation is a slant correction factor and is distinct from the constant used in Eq. (E.5). Because of the eight-coefficient constraint, a study was performed to determine how to best allocate the eight GPS message coefficients to the four parameters of Eq. (E.6). The model was found to be most sensitive to the amplitude AMP and period PER terms. Therefore, <i>b</i> and </font><font face="Symbol" size="3">z</font><font face="Times New Roman, Times, Serif" size="3"> are represented by constant terms in the model. Third-order polynomial expansions are used for AMP and PER.</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">The inputs to the model are the user geodetic latitude </font><font face="Symbol" size="3">l</font><font face="Times New Roman, Times, Serif" size="3"> and longitude </font><font face="Symbol" size="3">f</font><font face="Times New Roman, Times, Serif" size="3">, the GPS time <i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>gps</sub></font><font face="Times New Roman, Times, Serif" size="3">, and the user relative azimuth <i>A</i> and elevation <i>E</i> of the satellite. The GPS message supplies four </font><font face="Symbol" size="3">a</font><font face="Times New Roman, Times, Serif" size="3"> and four </font><font face="Symbol" size="3">b</font><font face="Times New Roman, Times, Serif" size="3"> parameters. The algorithm proceeds as follows:</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">1. From the satellite elevation, compute the earth central angle between the user position and the earth projection of the ionospheric intersection point:</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3"><img src="07a873f3ac10551c67e41262fbdaf9c1.gif" border="0" alt="0324-03.GIF" width="312" height="40" /></font></td>
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