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

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  <td><font face="Times New Roman, Times, Serif" size="3">one-dimensional, 83, 8991</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">one-dimensional aided, 9193, 117</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Inertial measurement unit (IMU), 187188</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Inertial navigation, 187239</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and accelerometers, 9, 188190</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">augmented error state equations, 211221</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">angular rate error models, 216219</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">forced error equations, 219221</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">specific force error models, 214216</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and body frame, 192</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">earth geoid and gravity model, 222225</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">earth geoid, 222223</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">gravity model, 223225</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and earth-centered earth-fixed (ECEF) coordinate frames, 191195</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and earth's rotation, 189, 191192</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and earth's shape, 191192</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">error equations for, 199211</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">nominal error equation summary, 204</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">nominal error state analysis, 205211</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">tangent-plane, 199204</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">geodetic position error dynamics, 202</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">rotation matrix error dynamics, 200202</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">velocity error dynamics, 202204</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">further reading, 239</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and gyro errors, 910</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">initialization techniques, 227237</font></td>
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