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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">Table A.3 defines the dominant definition of several variables that are used throughout the text. Great effort is placed on not using the same symbol for</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td>
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<table cellspacing="0" width="480" cellpadding="4"><tr><td colspan="3" valign="top"><font face="Times New Roman, Times, Serif" size="2">TABLE A.3 Variable Definitions</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Symbol</font></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">Description</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">Location</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">b</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>a</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Accelerometer bias</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">b</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Gyro bias</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">b</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Quaternion</font></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">2.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>b</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Inverse correlation time</font></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">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>b</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Random measurement error</font></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">5.7</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">c</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Short notation for GPS measurement error</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>ctr</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS receiver clock bias in meters</font></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">4.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>a</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS atmospheric delay</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>ion</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS ionospheric delay</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>sv</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS satellite clock offset</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>trop</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS tropospheric delay</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">D</font><font face="Times New Roman, Times, Serif" size="2"><i>t</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>r</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS receiver clock offset in seconds</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>p</i>2<i>a</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Accelerometer alignment error</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>p</i>2<i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Gyro alignment error</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Vertical gravity modeling error</font></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">6.6</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2">b</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>a</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Uncompensated accelerometer bias</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2">b</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Uncompensated gyro bias</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2">k</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Uncompensated gyro g sensitivity</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2">nl</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>a</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Uncompensated accelerometer nonlinearity</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2">SF</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>a</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Uncompensated accelerometer scale-factor error</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">d</font><font face="Times New Roman, Times, Serif" size="2">SF</font><font face="Times New Roman, Times, Serif" size="1"><sub><i>g</i></sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Uncompensated gyro scale-factor error</font></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">6.5</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>e</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Geodetic ellipse eccentricity</font></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">2.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>E</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS ephemeris broadcast error</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>E</i></font><font face="Times New Roman, Times, Serif" size="1"><sub>cm</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">GPS lumped common-mode errors</font></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">5.6</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">e</font><font face="Symbol" size="2"><i>r</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Attitude error</font></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">6.3</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">e</font><font face="Times New Roman, Times, Serif" size="1"><sub>p</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Position error</font></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">6.3</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">e</font><font face="Times New Roman, Times, Serif" size="1"><sub>v</sub></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Velocity error</font></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">6.3</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>脦</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>a</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Accelerometer error</font></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">3.4</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>h</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Receiver pseudorange noise</font></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">5.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2"><i>h</i></font><i><font face="Times New Roman, Times, Serif" size="1"><sub>g</sub></font></i></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">West gravity anomaly</font></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">6.6</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">F</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">System matrix</font></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">3.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>f</i></font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Geodetic ellipsoid flatness</font></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">2.2</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">G</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Gravitational acceleration vector</font></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">6.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">G</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Input matrix</font></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">3.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">g</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Local gravity vector</font></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">6.1</font></td></tr></table></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><i>g</i> = </font><font face="Symbol" size="2"><i>g</i></font><font face="Times New Roman, Times, Serif" size="2">(</font><font face="Symbol" size="2">l</font><font face="Times New Roman, Times, Serif" size="2">, <i>h</i>)</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Normal component of local gravity vector</font></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">6.6</font></td></tr></table></td></tr><tr><td valign="top"><font face="Symbol" size="2">G</font></td><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Discrete-time input matrix</font></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">3.1</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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