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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">If I</font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3">, J</font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3">, and K</font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3"> are unit vectors along the </font><font face="Symbol" size="3"><i>f</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3"> axes, then</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3"><img src="b1e2dd158b7b062ab6bfe944bc16bc3f.gif" border="0" alt="0031-03.GIF" width="364" height="56" /></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">represent unit vectors in the direction of the </font><font face="Symbol" size="3"><i>f</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3"> coordinate axes, resolved in the </font><font face="Symbol" size="3"><i>f</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>1</sub></font><font face="Times New Roman, Times, Serif" size="3"> coordinate system. Since I</font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3">, J</font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3">, and K</font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3"> are orthonormal, so are V</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>I</i></sub></font><font face="Times New Roman, Times, Serif" size="3">, V</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>J</i></sub></font><font face="Times New Roman, Times, Serif" size="3">, and V</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>K</i></sub></font><font face="Times New Roman, Times, Serif" size="3">. Therefore</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3"><img src="d740299a3942604f4cb74f85ab3629b6.gif" border="0" alt="0031-04.GIF" width="111" height="25" /></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">is an orthonormal matrix (R</font><font face="Times New Roman, Times, Serif" size="2"><sup><i>T</i></sup></font><font face="Times New Roman, Times, Serif" size="3">R = RR</font><font face="Times New Roman, Times, Serif" size="2"><sup><i>T</i></sup></font><font face="Times New Roman, Times, Serif" size="3"> = I). The matrix R is referred to as a <i>direction-cosine matrix</i>, as each element is the cosine of one of the angles between a coordinate axis of </font><font face="Symbol" size="3"><i>f</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>1</sub></font><font face="Times New Roman, Times, Serif" size="3"> and a coordinate axis of </font><font face="Symbol" size="3"><i>f</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>2</sub></font><font face="Times New Roman, Times, Serif" size="3">:</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3"><img src="50b8407a1e7c64b86dea030254ca061d.gif" border="0" alt="0031-05.GIF" width="348" height="57" /></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Although the direction-cosine matrix has nine elements, because of the three orthogonality constraints and the three normality constraints, there are only</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td>
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