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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">Chapter 2<br />
Coordinate Frames and Transformations</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">2.1.5 Local Geodetic or Tangent Plane</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">2.1.6 Body or Vehicle Frame</font></td>
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