page_vi.html

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

</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.1.2 Stationary Receiver</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">243</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.1.3 Low Dynamic Receiver</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">243</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.1.4 High Dynamic Receiver</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">244</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.1.5 General Comments</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">245</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="24" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.2 GPS INS Integration Approaches</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">246</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.2.1 Filter Approaches</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">246</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.2.2 Coupling Approaches</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">248</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.2.3 Summary of Advantages of GPS/INS Integration</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">250</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="24" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.3 Pseudorange Versus Position Aided INS</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">251</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.3.1 Receiver Kalman Filter</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">252</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.3.2 User INS Error Kalman Filter</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">253</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.3.3 System Performance Analysis</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">254</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="24" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
  <td colspan="3" height="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td><font face="Times New Roman, Times, Serif" size="3">7.4 Carrier-Smoothed Code</font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></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="12"></td>
  <td rowspan="5"></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td></td>
  <td align="right"><font face="Times New Roman, Times, Serif" size="3">257</font><font face="Times New Roman, Times, Serif" size="3"></font></td>
<td></td>
</tr><tr><td colspan="3"></td>
</tr><tr><td colspan="3" height="1"></td>
</tr></table></td></tr><tr><td valign="top"><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="48" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>