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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">angle update integration, 5354</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">derivatives, 4546</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Euler angle derivatives, 4647</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">implementation comparison, 4953</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">kinematics, 4243</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">maintaining, 4454</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">orthonormality and, 3132, 51</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">quaternion derivatives, 4749</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Discrete-time systems, 6164</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">ordinary difference equations, 61</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">state space, 6264, 71</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Discrete-time-equivalent model, 253254</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Doppler, 248249</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Doppler carrier-phase processing, 166167</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Doppler measurements, 269270</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Doppler radar, 233</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Doppler velocity estimates, 11</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Double differences, 181184</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Double differencing techniques, 99, 101102, 104105, 257258. <i>See also</i> Coarse/acquisition (C/A) code</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">E</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">Earth</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">gravity, 22, 24, 26, 56, 321<i>A</i></font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">gravity model, 222225</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">inertial rotation rate, 194195</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">position, 191194</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">relative velocity, 191194</font></td>