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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">where the constant <i>e</i> (eccentricity) is defined in the previous discussion. Although it is conceptually simpler to just take the inverse sine in the second step, the presented algorithm has much faster convergence, as shown in the following example.</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="2">Example Consider the inverse of the previous example in which</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3"><img src="dafcaa7f5f2539e8f59c73f138441d2e.gif" border="0" alt="0028-03.GIF" width="328" height="19" /></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">The WGS-84 ellipsoid parameter <i>e</i> is calculated above. The algorithm as written converges to centimeter accuracy (1 脳 10</font><font face="Times New Roman, Times, Serif" size="2"><sup>-9</sup></font><font face="Times New Roman, Times, Serif" size="3"> rad) in four iterations:</font></td>
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<table cellspacing="0" width="672" cellpadding="4"><tr><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">Iteration</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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">7</font></td></tr></table></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">8</font></td></tr></table></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">9</font></td></tr></table></td></tr><tr><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">Latitude</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></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">34.0000</font></td></tr></table></td></tr><tr><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"><i>h</i></font></td></tr></table></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">0</font></td></tr></table></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">237.6519</font></td></tr></table></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">251.7325</font></td></tr></table></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">251.7019</font></td></tr></table></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">251.7019</font></td></tr></table></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">251.7019</font></td></tr></table></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">251.7019</font></td></tr></table></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">251.7019</font></td></tr></table></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">251.7019</font></td></tr></table></td></tr></table></td></tr></table><br /><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">The same algorithm with an inverse sine instead of an arctangent function in the second calculation of the iteration has still not converged to meter-level accuracy after nine iterations:</font></td>
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<table cellspacing="0" width="682" cellpadding="4"><tr><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">Iteration</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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</font></td></tr></table></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">7</font></td></tr></table></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">8</font></td></tr></table></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">9</font></td></tr></table></td></tr><tr><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">Latitude</font></td></tr></table></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">34.0421</font></td></tr></table></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">33.9807</font></td></tr></table></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">34.0088</font></td></tr></table></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">33.9960</font></td></tr></table></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">34.0019</font></td></tr></table></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">33.9992</font></td></tr></table></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">34.0004</font></td></tr></table></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">33.9998</font></td></tr></table></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">34.0001</font></td></tr></table></td></tr><tr><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"><i>h</i></font></td></tr></table></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">0</font></td></tr></table></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">3401.885</font></td></tr></table></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">-1189.548</font></td></tr></table></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">912.145</font></td></tr></table></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">-50.721</font></td></tr></table></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">390.230</font></td></tr></table></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">188.257</font></td></tr></table></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">280.761</font></td></tr></table></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">238.393</font></td></tr></table></td></tr></table></td></tr></table><br /><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Convergence to centimeter accuracy requires 25 iterations. Generally, the arctangent based iterative technique converges quickly, especially when a good initial guess at the solution (e.g., from a previous measurement) is available.</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td>
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