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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">Matrices</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">antisymmetric, 299<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">covariance. <i>See</i> Covariance matrices</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">direction-cosine. <i>See</i> Direction-cosine matrices</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">inverse, 299300<i>A</i>, 302<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">orthogonal, 200, 299301<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">rotation, 194195, 197, 200202, 214215</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">skew-symmetric, 189, 200, 292293<i>A</i>, 298299<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">state-transition, 6667, 269</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">symmetric, 298301<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">trace, 300302<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Matrix review, 297303<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">derivatives with respect to matrices, 302<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">derivatives with respect to scalars, 301<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">derivatives with respect to vectors, 301<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">matrix properties and operations, 298301<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">other useful matrix results, 302<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">vector properties and operations, 297298<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Mean value, propagation of, 8789</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Measurement errors</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">performance analysis and, 116, 122</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">in stochastic systems, 7677</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td>
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