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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="2">The measurement matrix H for the last iteration is calculated from Eq. (5.7) to be</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="2">The inverse of the measurement matrix is</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3"><img src="40d65a782f853f1f173a9ac2f807ec23.gif" border="0" alt="0148-03.GIF" width="375" height="61" /></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="2">The first three rows of this inverted measurement matrix (those corresponding to the position estimates) sum to zero. Therefore, if all the measured ranges are biased by</font><font face="Times New Roman, Times, Serif" size="2" color="#FFFF00"></font></td>
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<table cellspacing="0" width="347" cellpadding="4"><tr><td colspan="4" valign="top"><font face="Times New Roman, Times, Serif" size="2">TABLE 5.4 Receiver Position Error in ECEF Coordinates (Meters) as a Function of Iteration Number</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>k</i></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>x</i></font></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>y</i></font></td></tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2"><i>z</i></font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">1</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td rowspan="5"><img src="f7703d30723feae8ee39d997c6419c20.gif" border="0" width="1" height="1" alt="f7703d30723feae8ee39d997c6419c20.gif" /></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2">757630.116</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">2</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2">27393.130</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">3</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2">-.518</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">4</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td rowspan="5"></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">-4.104</font></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">84.074</font></td>
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  <td align="right"><font face="Times New Roman, Times, Serif" size="2">-4.104</font></td>
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</tr></table></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2">-35.684</font></td></tr></table></td></tr></table></td></tr></table><br />







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