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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">aided initialization and error estimation, 232237</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">inertial measurement aiding, 237</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">position aiding, 233</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">velocity aiding, 233237</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">self-alignment, 228229</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">coarse self-initialization, 228229</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">fine initialization: analytic gyro compassing, 229231</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">fine initialization: physical gyro compassing, 229</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">kinematic equations for, 190197</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">attitude, 197</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">position dynamic, 190191</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">velocity dynamic, 191196</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">ECEF, 193194</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">geodetic, 194196</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">inertial frame, 192</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">inertial positions and earth-relative velocity, 192193</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">lever-arm compensation, 237239</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">mechanization equations for, 197199</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">and position errors, 12, 7, 10, 1718, 188</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">single-channel error models, 225226</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Inertial navigation systems (INSs), 1, 811</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">aided, 12, 12</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">integrate, 12, 12</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td>
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