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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">weighted least squares (WLS), 96105</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Estimation errors, 1718, 108111</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Euler angles</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">calculation of, 281282</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">derivatives, 4647</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">numeric integration, 315316<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">relation to direction cosine, 42</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">rotating reference frames and, 42, 44, 4647</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Extended Kalman filter, loosely coupled approaches and, 248249</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">External aided instrumentation, 12</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">F</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Foucault frequency, 206207</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Frames of reference</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">accelerometer, 187</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">alternative implementations, 197</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">coordinate. <i>See</i> Coordinate frames</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">navigation. <i>See</i> Inertial frame; Inertial navigation; Inertial navigation systems (INSs); Navigation; Navigation frame</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">platform, 187</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">rotating. <i>See</i> Rotating reference frames</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">G</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Gaussian errors, 8183, 112, 251252</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Gaussian white-noise, 251252</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Gauss-Markov processes, 7884. <i>See also under</i> Random input systems</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">acceleration modeling, 244245, 247248</font></td>
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