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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">3.4.3 Calculation of Qd(<i>k</i>) from Q(<i>t</i>)</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4.4 Mean and Covariance Propagation</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4.5 One-Dimensional Inertial-Frame INS Example</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4.6 One-Dimensional Aided Inertial-Frame INS Example</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4.7 Covariance Analysis: Processing of Submatrices</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Chapter 4<br />
Discrete Linear and Nonlinear Kalman Filtering Techniques</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.1 Weighted Least Squares (WLS)</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.1.1 Weighted-Least-Squares Solution</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.1.2 Recursive Least Squares (RLS)</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.1.3 Kalman Filtering</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.2 Kalman Filter: Alternative Implementations</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.3 Kalman Filter: Properties</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">4.4 Performance Analysis</font></td>
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