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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">Random noise errors. <i>See</i> White noise errors</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Random-walk errors, 81, 8990, 130, 152</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Random-walk processes. <i>See</i> Brownian motion processes</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Receiver clock errors, 144145, 150154, 178179, 268269</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Receiver noise errors, 145, 160</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Receiver position, fixed, 102</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Rectangular coordinate systems, 2933</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Reference frames. <i>See</i> Frames of reference</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Rotating reference frames, 4254</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">derivative calculations, 4344</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">direction-cosine calculation, 4454</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">direction-cosine kinematics, 4243</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">notational conventions for, 291292<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Rotation errors, 200, 206, 211</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Rotation matrices, 194195, 197, 200202, 214215</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">S</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Satellite clock errors</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">carrier-smoothed code and, 257258, 266 GPS</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">systems and, 144146, 154, 179</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">range-space DGPS base station design and, 267268</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Scale-factor errors, 77</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Schmidt-Kalman filtering, 131132</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Schuler frequency, 206207</font></td>
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