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

  <td><font face="Times New Roman, Times, Serif" size="3"><i>(Continued)</i></font></td>
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<table cellspacing="0" width="480" cellpadding="4"><tr><td colspan="3" valign="top"><font face="Times New Roman, Times, Serif" size="2">TABLE A.3 Variable Definitions</font></td></tr><tr><td valign="top"><font face="Symbol" size="2">G</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Input matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">4.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">H</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Output matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>h</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Geodetic altitude</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>J</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>WLS</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Weighted least-squares cost function</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">4.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">K</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Kalman filter state-feedback gain vector</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">4.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">L</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">State-feedback gain vector</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.3</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">l</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Geodetic latitude</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">l</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>c</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Geocentric latitude</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">MP</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Code multipath error</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">mp</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Phase multipath error</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>N</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Integer phase ambiguity</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.7</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>n</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Random measurement noise</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">(<i>n, e, d</i>)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Navigation-frame coordinates (north, east, down)</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">1.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">W</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>ie</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Skew-symmetric form of earth rotation vector</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>w</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Process noise</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>w</i></font><i><font face="Symbol" size="1"><sub>f</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Phase process noise</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>w</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>f</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Foucault frequency</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>w</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>f</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Frequency process noise</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>w</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>s</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Schuler frequency</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">p</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Position</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">1.6</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>p</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Roll rate in body frame</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">(</font><font face="Symbol" size="2"><i>f</i></font><i><font face="Times New Roman, Times, Serif" size="2">, </font><font face="Symbol" size="2">q</font><font face="Times New Roman, Times, Serif" size="2">, </font><font face="Symbol" size="2">y</font></i><font face="Symbol" size="2"></font><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Euler angles (roll, pitch, heading)</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">F</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Discrete-time system matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">F</font><font face="Times New Roman, Times, Serif" size="2">(</font><font face="Symbol" size="2"><i>t</i></font><i><font face="Times New Roman, Times, Serif" size="2">, t</font></i><font face="Times New Roman, Times, Serif" size="2">)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">State-transition matrix from <i>t</i> to </font><font face="Symbol" size="2"><i>t</i></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.3</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">P<sup>-1</sup></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Information matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">4.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">P</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Error covariance matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">P</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Perturbation matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.8</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>f</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Carrier phase</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.7</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>f</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Geodetic longitude</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>f</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Roll Euler angle</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>y</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Heading (true) Euler angle</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>q</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Pitch rate in body frame</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Q(<i>t</i>)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Power spectral density</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Q</font><font face="Times New Roman, Times, Serif" size="1"><sub>d</sub></font><font face="Times New Roman, Times, Serif" size="1"><sub></sub></font><font face="Times New Roman, Times, Serif" size="2">(<i>k</i>)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Process-noise variance matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>r</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Yaw rate in body frame</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">R</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Three-dimensional position vector</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">R</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Measurement-noise covariance matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">4.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">R</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>x</i>2<i>y</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Transformation matrix from frame <i>x</i> to <i>y</i></font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">1.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="e5a80af753145f3184ada9de3fa7ab6f.gif" border="0" alt="0294-01.GIF" width="10" height="15" /></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Pseudorange measurement</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>S</i></font><i><font face="Symbol" size="1"><sub>f</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Phase error power spectral density</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>S</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>f</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Frequency error power spectral density</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">SA</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Selective availability</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>T</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>s</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Discrete-time sampling period</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">5.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>q</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Pitch Euler angle</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">(<i>u, v, w</i>)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Body-frame coordinates</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">1.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>u</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Forward velocity in body frame</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>v</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Lateral velocity in body frame</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">var</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Variance</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>w</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Vertical velocity in body frame</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">x</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">System state</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">1.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">(<i>x, y, z</i>)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">ECEF coordinates</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">2.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="49ea1e8837235af5848c10e679fc0a3b.gif" border="0" alt="0294-02.GIF" width="11" height="13" /></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Measurement matrix</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">4.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">z</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">North component gravity anomaly</font></td><td valign="top"><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="center"><font face="Times New Roman, Times, Serif" size="2">6.6</font></td></tr></table></td></tr></table></td></tr></table><br />







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