235

APPENDIX A
Coordinate Transformation
Heikkinen, M. Exact transformation method for
conversion of ECEF coordinates to Geodetic coordinates

the

Heikkinen, M. had derived a set of equations for exact conversion of ECEF to

Geodetic coordinates (Zhu 1993).
Heikkinens formula is

r x2 y2
E2 = a2 b2
F = 54b2z2
G = r2 + (1 - e2)z2 e2 E2

e4 F r 2
G3

s 1 c c 2 2c
F

P
3( s

1
1) 2 G 2
s

Q 1 2e 4 P
r0

Pe 2 r
a2
1
P(1 e 2 ) z 2 Pr 2

(1 )

1 Q
2
Q
Q(1 Q)
2
U (r e 2 r0 ) 2 z 2
V (r e 2 r0 ) 2 (1 e 2 ) z 2

z0

b2 z
aV

b2
h U (1
)
aV

236

e '2

a2 b2
b2

z e '2 z 0
arctan(
)
r
y
z

arctan( )
where x, y, z are ECEF coordinates
, , h are Geodetic latitude, Geodetic longitude and altitude respectively
A is the ellipsoidal equatorial radius (a=6378.138 Km for model WGS-84)
e is the eccentricity of ellipsoid (e2=0.00669437999 for model WGS-84)
b is the ellipsoidal polar radius (b a 1 e 2 )
e is the second eccentricity
E is linear eccentricity

Coordinate transformation from Geodetic coordinates to

ECEF coordinates
The relations expressing ECEF coordinates (X, Y, Z) of a point P in terms of
Geodetic coordinates (, , h) are
X ( R h) cos( ) cos( )
Y ( R h) cos( ) sin( )

Z ((1 e 2 ) h) sin( )
where R=Radius of prime vertical
R

a
1 e 2 sin 2 ( )

237

APPENDIX B
Satellite Position Estimation Algorithm
B.1 Satellite position estimation algorithm from the GPS satellite
broadcast ephemeris
Satellite position is computed using the six Keplerian elements ( a , e , io , ,

o , M o ) which describe a smooth, elliptical orbit with the satellite position

being a function of time, since to . But, the earth is not a uniform sphere,
and there are other forces, beside gravity. Net result of these perturbing
forces such as Non-central gravitational force field, Solar radiation pressure,
Equatorial bulge changes the orbit of the GPS satellite with time, and it
should be characterized with an appropriate set of time dependent
parameters.
GPS accounts these perturbations with an expanded orbital parameter set to
retain the Keplerian look. The expanded set of quasi-Keplerian parameters
consists of 15 elements, whose values are specified relative to the reference
epoch. So, there are 16 ephemeris parameters in all. There is also an
identifier parameter, called Issue of Data- Ephemeris (IODE), associated with
each ephemeris parameter set. A change in the value of IODE between two
successive transmissions indicates that the ephemeris parameter set has
been updated. The ephemeris parameters are broadcast by each GPS
satellite and are given below Table B.1.

238

Table B.1 Ephemeris Parameters

Description
M0
n
e

Units

Mean Anomaly at reference time

semi-circles
Mean motion differences from computed semivalue
circles/sec
Eccentricity
Square root of the semi major axis
m

Longitude of ascending node of orbit plane at semi-circles

weekly epoch
i0
Inclination angle at reference time
semi-circles

Argument of perigee
semi-circles

Rate of right ascension

semi
circles/sec
di/dt Rate of inclination angle
semicircles/sec
Cuc
Amplitude of the cosine harmonic correction Radians
term to the argument of latitude
Cus
Amplitude of the sine harmonic correction Radians
term to the argument of latitude
Crc
Amplitude of the cosine harmonic correction Meters
term to the orbit radius
Crs
amplitude of the sine harmonic correction Meters
term to the orbit radius
Cic
Amplitude of the cosine harmonic correction Radians
term to the angle of inclination
Cis
Amplitude of the sine harmonic correction Radians
term to the angle of inclination
toe
Reference time for ephemeris computation
Sec
IODE Issue of data ephemeris

In order to compute the satellite positions, position algorithm makes use of

, i and
the Keplerian elements along with the additional parameters ( n ,
six sine and cosine coefficients) which describe the derivations of an actual

239

satellite motion from this smooth ellipse. These parameters are computed
from the ephemeris data elements listed out in the Table B.1 (Kaplan, E.,
1996).
B.2 Steps of satellite position computation.
Step 1: Find the semi-major axis of elliptical orbit
a

(meter)

Step 2: The GPS time of transmission, t corrected for transit time

t tsv tsv
Step 3: Calculate the time difference ( tk ) between the time ( t ) and the epoch
time ( toe ) and must account for the beginning or end of the week
*
t k t toe

If tk t toe 302400 then tk tk 604800

If tk t toe 302400 then tk tk 604800

Where, t represent the coarse GPS system time, and the value can be
obtained from Time Of Week (TOW). In addition, toe can be obtained from the
ephemeris data, 302,400 is the time of half a week in seconds.

Step 4: Calculate the mean motion,

n n0 n

a3

n (rad/sec)

Step 5: From this n value the mean anomaly can be found as,

M k M 0 ntk

240

Step 6: The eccentric anomaly Ek can be found from Keplers equation (M = E

e sinE) through iteration as

Ek M k e sin Ek with, Eo = Mk
Step 7: Once Ek is obtained, the value of concise expression of the orbital
radius, rk can be found from,

rk a(1 e cos Ek )
Step 8: Now let us find the true anomaly . The value can be found from,

1 e2 sin E /(1 e cos E )

sin k
1
k
k

tan

cos

(cos
E

e
)
/(1

e
cos
E

k
k
k)

k tan 1

Step 9: The argument of perigee () can be found from the ephemeris data.
Using the definition of argument of latitude, the value of

k k
Step 10: Calculate the correction terms of argument of latitude, orbital
radius and inclination angle;

uk Cus sin 2k Cuc cos 2k

rk Crs sin 2k Crc cos 2k

i C sin 2 C cos 2
is
k
ic
k
k
Step 11: Calculate the following correction terms as,

uk k uk

rk rk rk
i i i it
k
k
k 0
Step 12: Compute the longitude of the ascending node k by adding the
right ascension parameter, 0 and the mean earth rotation rate,

241

)t
t
k 0 (
e k
e oe

Step 13: Once all the necessary parameters are obtained, the position of the
satellite can be found by applying the three rotations (through , i and )
described previously. The satellite position calculated in this equation is in
the ECEF frame.

xk rk cos uk cos k rk sin uk cos ik sin k

y r cos u sin r sin u cos i cos
k
r
k
k
k
k
k k
zk

rk sin uk sin ik

242

APPENDIX C
Performance

comparison

of

the

three

navigation solutions after smoothening over an

hour data
The user position, receiver clock error and GDOP values after
smoothening over an hour due to the recursive least squares (RLS)
approximation

and

the

proposed

Jacobian

determinant

based

multipolynomial resultant technique (JMR) and Minkowski function based

absolute position (MAP) algorithms corresponding to 19th February, 2010 are
given in Table C.1, Table C.2 and Table C.3 respectively. The error in user
position estimated by all the three methods is tabulated in Table C.4. The
mean, standard deviation () and variance (2) values for the errors estimated
by all the methods are also given in Table C.4. From Table C.4 it is clear
that, the JMR method gives better user position than the RLS method and
the MAP method provides better user position estimation than the RLS and
the JMR methods.

243

Table C.1 User position, Receiver clock error and GDOP after smoothening
over an hour due to the RLS method corresponding to 19th February, 2010
S.
No.

GPS
Time
in
Hours

User position due to RLS navigation solution

(in meters)
X position

Y position

706913.753

GDOP

Z position

Receiver
clock
error (m)

6035844.939

1929974.791

23.905

3.1275

706916.421

6035826.189

1929975.551

18.731

2.7528

706925.523

6035818.412

1929960.430

10.507

1.7314

706916.800

6035821.733

1929963.911

10.796

3.9974

706920.832

6035834.185

1929972.710

19.931

2.3259

706932.166

6035823.154

1929970.024

18.871

1.8307

706929.566

6035832.590

1929975.443

26.765

2.006

706925.258

6035841.578

1929974.582

28.264

2.4958

706927.142

6035851.078

1929971.565

36.326

1.6777

10

10

706919.133

6035848.162

1929974.525

34.739

1.8995

11

11

706923.504

6035844.498

1929979.686

36.426

1.5867

12

12

706916.469

6035840.705

1929967.466

35.68

2.4262

13

13

706921.925

6035831.350

1929969.148

23.558

2.1316

14

14

706912.560

6035818.556

1929969.984

15.619

2.6003

15

15

706917.317

6035810.326

1929979.467

12.828

2.0269

16

16

706925.892

6035810.877

1929964.705

3.6666

4.1812

17

17

706927.179

6035831.425

1929973.070

16.913

3.2442

18

18

706924.260

6035807.863

1929960.492

-1.623

6.3243

19

19

706917.307

6035828.023

1929965.507

14.016

2.1818

20

20

706920.627

6035827.443

1929969.139

12.802

2.5979

21

21

706924.526

6035820.672

1929971.435

8.2714

2.9329

22

22

706924.145

6035818.980

1929968.801

6.1742

4.5792

23

23

706920.269

6035833.131

1929974.438

17.171

1.9936

24

24

706909.534

6035823.223

1929973.547

11.442

3.6181

706921.338

6035828.712

1929970.851

18.407

2.7612

5.593

12.081

5.196

10.571

1.1181

31.285

145.950

27.003

111.75

1.2502

Mean
Standard
deviation ()
Variance (2)

244

Table C.2 User position, Receiver clock error and GDOP after smoothening
over an hour due to the JMR method corresponding to 19th February, 2010
S.
No.

GPS
Time
in
Hours

User position due to JMR navigation

solution (in meters)
X position

Y position

706915.409

GDOP

Z position

Receiver
clock
error (m)

6035836.118

1929968.837

18.303

3.1275

706917.455

6035831.793

1929973.052

19.67

2.7528

706924.784

6035824.539

1929971.653

16.199

1.7314

706918.161

6035822.429

1929965.507

11.612

3.9974

706921.787

6035833.861

1929974.483

22.711

2.3259

706925.270

6035824.049

1929972.750

20.457

1.8307

706928.227

6035836.064

1929972.962

26.277

2.006

706928.902

6035839.359

1929974.577

27.445

2.4958

706925.108

6035843.013

1929977.348

31.427

1.6777

10

10

706918.988

6035840.919

1929975.528

28.721

1.8995

11

11

706920.649

6035844.167

1929974.553

32.182

1.5867

12

12

706913.963

6035843.049

1929975.283

35.106

2.4262

13

13

706918.198

6035832.822

1929971.630

22.132

2.1316

14

14

706912.759

6035818.928

1929970.782

15.272

2.6003

15

15

706917.806

6035817.663

1929974.942

13.153

2.0269

16

16

706930.049

6035811.335

1929965.845

1.7982

4.1812

17

17

706928.270

6035831.040

1929972.129

16.821

3.2442

18

18

706925.517

6035813.683

1929963.359

2.8727

6.3243

19

19

706920.316

6035820.487

1929967.365

9.9814

2.1818

20

20

706921.517

6035825.963

1929970.849

10.872

2.5979

21

21

706924.644

6035823.892

1929972.580

9.5658

2.9329

22

22

706923.666

6035821.024

1929971.840

7.8517

4.5792

23

23

706919.852

6035833.503

1929974.730

16.718

1.9902

24

24

706916.167

6035823.084

1929972.259

8.3241

3.6181

706921.561

6035828.866

1929971.868

17.728

2.761

4.888

9.587

3.483

9.1967

1.118

23.897

91.929

12.137

84.579

1.250

Mean
Standard
deviation ()
Variance (2)

245

Table C.3 User position, Receiver clock error and GDOP after smoothening
over an hour due to the MAP method corresponding to 19th February, 2010
S.
No.

GPS
Time
in
Hours

User position due to MAP navigation

solution (in meters)
X position

Y position

706947.036

GDOP

Z position

Receiver
clock
error (m)

6035832.468

1929969.041

18.262

3.1275

706948.586

6035828.042

1929972.572

19.608

2.7528

706956.210

6035821.883

1929971.398

16.687

1.7314

706951.547

6035822.345

1929968.762

15.731

3.5522

706953.536

6035830.467

1929974.643

22.898

2.3259

706957.208

6035820.257

1929972.657

20.405

1.8307

706959.731

6035833.943

1929973.317

27.094

2.006

706960.423

6035835.885

1929974.786

27.68

2.4958

706957.207

6035840.221

1929977.011

31.846

1.6777

10

10

706951.036

6035838.530

1929975.813

29.482

1.8995

11

11

706952.683

6035841.599

1929974.664

32.663

1.5867

12

12

706945.982

6035840.877

1929975.290

35.707

2.4262

13

13

706949.848

6035830.824

1929971.988

23.049

2.1345

14

14

706944.455

6035815.446

1929970.660

15.374

2.6003

15

15

706949.496

6035815.856

1929975.670

13.959

2.0269

16

16

706955.051

6035819.339

1929973.823

12.618

3.3867

17

17

706959.847

6035827.090

1929972.105

16.692

3.2442

18

18

706957.351

6035816.181

1929967.966

9.2612

5.8265

19

19

706952.150

6035817.281

1929967.607

10.314

2.1818

20

20

706953.271

6035823.025

1929971.023

11.357

2.5979

21

21

706956.282

6035820.304

1929972.502

9.6175

2.9329

22

22

706955.482

6035817.565

1929971.843

7.9621

4.5792

23

23

706951.850

6035831.016

1929974.606

17.355

1.9936

24

24

706948.223

6035820.619

1929972.703

9.1493

3.6181

706953.104

6035826.711

1929972.602

18.949

2.689

4.489

8.657

2.540

8.222

0.9956

20.158

74.952

6.452

67.604

0.99123

Mean
Standard
deviation ()
Variance (2)

246

Table C.4 User position errors after smoothening over an hour due to all the
three methods corresponding to 19th February, 2010
GPS
Time
in
Hours

RLS method

S.
No.

MAP method

X error
(m)

Y error
(m)

Z error
(m)

X error
(m)

Y error
(m)

Z error
(m)

X error
(m)

Y error
(m)

Z error
(m)

57.156

96.083

34.791

55.5

104.9

40.745

23.873

108.55

40.541

54.488

114.83

34.03

53.453

109.23

36.529

22.323

112.98

37.01

45.386

122.61

49.152

46.125

116.48

37.928

14.699

119.14

38.184

54.108

119.29

45.671

52.748

118.59

44.075

19.362

118.68

40.82

50.077

106.84

36.872

49.122

107.16

35.099

17.373

110.55

34.939

38.743

117.87

39.558

45.638

116.97

36.832

13.701

120.77

36.925

41.343

108.43

34.138

42.682

104.96

36.62

11.178

107.08

36.264

45.651

99.444

34.999

42.007

101.66

35.005

10.485

105.14

34.795

43.767

89.944

38.017

45.801

98.009

32.234

13.702

100.8

32.57

10

10

51.776

92.86

35.057

51.921

100.1

34.054

19.873

102.49

33.768

11

11

47.405

96.524

29.896

50.26

96.855

35.029

18.226

99.423

34.917

12

12

54.44

100.32

42.115

56.946

97.973

34.298

24.926

100.15

34.291

13

13

48.984

109.67

40.433

52.711

108.2

37.952

21.061

110.2

37.593

14

14

58.349

122.47

39.598

58.15

122.09

38.799

26.454

125.58

38.922

15

15

53.592

130.7

30.115

53.103

123.36

34.639

21.413

125.17

33.912

16

16

45.017

130.15

44.876

40.86

129.69

43.737

15.858

121.68

35.758

17

17

43.73

109.6

36.512

42.639

109.98

37.453

11.062

113.93

37.477

18

18

46.649

133.16

49.089

45.392

127.34

46.223

13.558

124.84

41.616

19

19

53.602

113.0

44.074

50.593

120.54

42.216

18.759

123.74

41.975

20

20

50.282

113.58

40.443

49.392

115.06

38.733

17.637

118.0

38.558

21

21

46.383

120.35

38.147

46.265

117.13

37.002

14.627

120.72

37.079

22

22

46.763

122.04

40.78

47.243

120.0

37.741

15.427

123.46

37.739

23

23

50.64

107.89

35.144

51.056

107.52

34.851

19.058

110.01

34.975

24

24

61.375

117.8

36.035

54.742

117.94

37.323

22.686

120.4

36.879

Mean

49.571

112.30
9

38.730

49.347

112.15
6

37.713

17.804

114.31

36.979

Standard
deviation ()

5.593

12.081

5.196

4.888

9.587

3.483

4.489

8.657

2.540

Variance
(2)

31.285

145.95
0

27.003

23.897

91.929

12.137

20.158

74.952

6.452

JMR method

247

The user position, receiver clock error and GDOP values after
smoothening over an hour due to the recursive least squares approximation
and the proposed Jacobian determinant based multipolynomial resultant
technique and Minkowski function based absolute position algorithms
corresponding to 20th February, 2010 are given in Table C.5, Table C.6 and
Table C.7 respectively. The error in user position estimated by all the three
methods is tabulated in Table C.8. From Table C.8 it is clear that, the JMR
method gives better user position than the RLS method and the MAP method
provides better user position estimation than the RLS and the JMR methods.
The user position, receiver clock error and GDOP values after
smoothening over an hour due to the the recursive least squares
approximation

and

the

proposed

Jacobian

determinant

based

multipolynomial resultant technique and Minkowski function based absolute

position algorithms corresponding to 21st February, 2010 are given in Table
C.9, Table C.10 and Table C.11 respectively. The error in user position
estimated by all the three methods is tabulated in Table C.12. The mean,
standard deviation () and variance (2) values for the errors estimated by all
the methods are also given in Table C.12. From Table C.12 it is clear that,
the JMR method gives better user position than the RLS method and the
MAP method provides better user position estimation than the RLS and the
MAP methods.

248

Table C.5 User position, Receiver clock error and GDOP after smoothening
over an hour due to the RLS method corresponding to 20th February, 2010

S.
No.

GPS
Time
in
Hours

User position due to RLS navigation solution

(in meters)
X position

Y position

706911.368

GDOP

Z position

Receiver
clock
error (m)

6035853.214

1929975.298

27.432

3.207

706913.936

6035832.682

1929975.352

20.102

2.670

706922.988

6035826.047

1929966.197

18.509

1.716

706913.688

6035830.015

1929964.836

18.147

4.311

706921.470

6035838.911

1929971.598

25.752

2.319

706929.041

6035827.523

1929967.802

22.899

1.815

706929.654

6035833.721

1929973.289

27.267

2.042

706925.091

6035844.579

1929972.095

29.691

2.484

706926.286

6035854.867

1929972.078

36.185

1.686

10

10

706918.716

6035846.865

1929977.345

32.204

1.914

11

11

706921.212

6035844.554

1929980.523

36.72

1.589

12

12

706914.858

6035846.848

1929968.480

40.316

2.680

13

13

706918.646

6035823.040

1929970.569

11.557

2.220

14

14

706915.516

6035817.623

1929971.449

8.7076

2.558

15

15

706912.837

6035814.329

1929981.767

17.663

1.883

16

16

706921.210

6035830.186

1929975.622

23.872

4.690

17

17

706925.725

6035830.727

1929974.142

14.993

2.689

18

18

706926.735

6035826.719

1929973.248

12.739

2.294

19

19

706920.135

6035835.579

1929973.973

24.425

1.969

20

20

706915.763

6035832.802

1929969.025

19.586

2.566

21

21

706925.217

6035811.891

1929973.786

-1.4255

2.980

22

22

706920.995

6035816.181

1929972.494

2.0776

4.719

23

23

706918.587

6035827.105

1929974.173

17.475

1.683

24

24

706922.691

6035830.765

1929978.665

19.076

2.759

706920.515

6035832.366

1929973.075

21.082

2.560

5.250

11.727

4.142

10.276

0.895

27.567

137.528

17.163

105.59

0.801

Mean
Standard
deviation ()
Variance (2)

249

Table C.6 User position, Receiver clock error and GDOP after smoothening
over an hour due to the JMR method corresponding to 20th February, 2010
S.
No.

GPS
Time
in
Hours

User position due to JMR navigation

solution (in meters)
X position

Y position

706913.636

GDOP

Z position

Receiver
clock
error (m)

6035841.921

1929968.503

21.094

3.2078

706915.534

6035838.438

1929974.802

21.836

2.6703

706921.524

6035832.855

1929975.953

24.707

1.7161

706914.466

6035832.447

1929965.615

19.612

4.311

706920.405

6035837.200

1929973.436

27.914

2.3199

706922.521

6035828.371

1929969.725

25.474

1.815

706927.404

6035838.191

1929970.356

26.756

2.0428

706928.000

6035840.439

1929972.641

27.892

2.4847

706923.813

6035845.397

1929977.427

31.521

1.6863

10

10

706918.918

6035843.566

1929977.366

27.636

1.9147

11

11

706919.590

6035844.896

1929975.545

33.66

1.5893

12

12

706911.040

6035849.413

1929978.513

40.101

2.6809

13

13

706916.911

6035825.226

1929971.290

11.048

2.2201

14

14

706915.119

6035817.264

1929971.610

8.0545

2.5588

15

15

706916.130

6035820.198

1929976.916

17.821

1.883

16

16

706923.167

6035827.129

1929976.239

22.209

4.6907

17

17

706924.918

6035829.505

1929973.996

15.327

2.6899

18

18

706923.869

6035822.029

1929971.490

10.208

2.2947

19

19

706919.597

6035831.092

1929971.955

20.702

1.9699

20

20

706918.020

6035829.500

1929970.132

17.181

2.566

21

21

706923.270

6035814.384

1929974.810

-0.4938

2.9802

22

22

706919.955

6035820.139

1929977.188

5.1335

4.7195

23

23

706920.316

6035825.990

1929973.271

18.004

1.683

24

24

706922.566

6035823.948

1929976.844

16.415

2.7598

706920.029

6035831.647

1929973.567

20.409

2.5606

4.343

9.693

3.306

9.375

0.89518

18.863

93.958

10.934

87.893

0.80135

Mean
Standard
deviation ()
Variance (2)

250

Table C.7 User position, Receiver clock error and GDOP after smoothening
over an hour due to the MAP method corresponding to 20th February, 2010
S.
No.

GPS
Time
in
Hours

User position due to MAP navigation

solution (in meters)
X position

Y position

706945.162

Z position

Receiver
clock
error (m)

GDOP

6035838.126

1929968.704

20.962

3.2078

706946.669

6035834.634

1929974.257

21.733

2.6703

706952.730

6035830.432

1929975.737

25.324

1.7161

706946.024

6035829.212

1929965.700

19.933

4.2606

706952.148

6035833.431

1929973.391

27.873

2.3199

706954.474

6035824.135

1929969.589

25.21

1.815

706958.868

6035836.237

1929970.756

27.669

2.0428

706959.544

6035837.186

1929972.830

28.255

2.4847

706955.766

6035842.350

1929976.925

31.745

1.6863

10

10

706950.942

6035840.727

1929977.699

28.204

1.9147

11

11

706951.436

6035841.819

1929975.557

33.894

1.5893

12

12

706943.152

6035847.642

1929978.527

40.858

2.6809

13

13

706948.425

6035822.621

1929971.618

11.658

2.2237

14

14

706946.823

6035813.661

1929971.563

8.1015

2.5588

15

15

706947.553

6035818.282

1929977.594

18.7

1.8825

16

16

706954.686

6035824.731

1929976.858

23.142

4.7193

17

17

706956.677

6035825.466

1929973.905

15.13

2.6899

18

18

706955.815

6035818.501

1929971.683

10.362

2.2947

19

19

706951.418

6035828.015

1929972.271

21.1

1.9699

20

20

706949.617

6035826.223

1929970.196

17.455

2.566

21

21

706955.084

6035811.162

1929974.854

-0.1478

2.9577

22

22

706951.825

6035816.826

1929977.170

5.3062

4.7195

23

23

706951.703

6035822.764

1929972.952

18.205

1.683

24

24

706954.393

6035820.895

1929977.158

16.778

2.7598

706951.706

6035828.545

1929973.646

20.727

2.5589

4.362

9.811

3.305

9.444

0.89344

19.035

96.256

10.924

89.195

0.79823

Mean
Standard
deviation ()
Variance (2)

251

Table C.8 User position errors after smoothening over an hour due to all the
three methods corresponding to 20th February, 2010
GPS
Time
in
Hours

RLS method

S.
No.

MAP method

X error
(m)

Y error
(m)

Z error
(m)

X error
(m)

Y error
(m)

Z error
(m)

X error
(m)

Y error
(m)

Z error
(m)

59.541

87.808

34.284

57.273

99.101

41.079

25.746

102.9

40.877

56.973

108.34

34.23

55.375

102.58

34.78

24.239

106.39

35.324

47.92

114.97

43.384

49.384

108.17

33.629

18.179

110.59

33.845

57.221

111.01

44.745

56.443

108.58

43.967

24.884

111.81

43.882

49.439

102.11

37.983

50.504

103.82

36.146

18.761

107.59

36.191

41.868

113.5

41.779

48.388

112.65

39.856

16.435

116.89

39.993

41.255

107.3

36.292

43.505

102.83

39.226

12.04

104.79

38.825

45.818

96.443

37.487

42.908

100.58

36.941

11.365

103.84

36.752

44.623

86.155

37.503

47.095

95.625

32.155

15.143

98.672

32.657

10

10

52.193

94.157

32.236

51.99

97.456

32.216

19.967

100.29

31.883

11

11

49.697

96.468

29.059

51.319

96.126

34.037

19.473

99.203

34.024

12

12

56.051

94.174

41.102

59.869

91.609

31.069

27.756

93.38

31.054

13

13

52.263

117.98

39.013

53.998

115.8

38.292

22.483

118.4

37.963

14

14

55.393

123.4

38.133

55.79

123.76

37.972

24.086

127.36

38.018

15

15

58.071

126.69

27.814

54.779

120.82

32.666

23.356

122.74

31.987

16

16

49.699

110.84

33.96

47.742

113.89

33.343

16.222

116.29

32.724

17

17

45.184

110.3

35.44

45.99

111.52

35.586

14.232

115.56

35.677

18

18

44.173

114.3

36.334

47.04

118.99

38.092

15.093

122.52

37.898

19

19

50.774

105.44

35.609

51.312

109.93

37.626

19.491

113.01

37.311

20

20

55.146

108.22

40.557

52.889

111.52

39.45

21.292

114.8

39.386

21

21

45.692

129.13

35.795

47.638

126.64

34.772

15.825

129.86

34.728

22

22

49.913

124.84

37.087

50.953

120.88

32.394

19.084

124.2

32.411

23

23

52.322

113.92

35.408

50.593

115.03

36.31

19.205

118.26

36.63

24

24

48.218

110.26

30.917

48.343

117.07

32.737

16.516

120.13

32.424

Mean

50.394

108.66

36.506

50.88

109.37

36.014

19.203

112.48

35.936

Standard
deviation ()

5.2505

11.727

4.1429

4.343

9.693

3.306

4.363

9.811

3.305

Variance (2)

27.568

137.53

17.163

18.864

93.959

10.935

19.036

96.256

10.925

JMR method

252

Table C.9 User position, Receiver clock error and GDOP after smoothening
over an hour due to the RLS method corresponding to 21st February, 2010

S.
No.

GPS
Time
in
Hours

User position due to RLS navigation solution

(in meters)
X position

Y position

706916.489

GDOP

Z position

Receiver
clock
error (m)

6035836.222

1929970.738

14.457

3.0413

706929.258

6035814.264

1929967.444

0.53577

2.3629

706922.857

6035823.570

1929962.198

14.575

1.719

706909.096

6035823.147

1929959.616

9.7227

4.5943

706921.230

6035830.677

1929969.247

17.878

2.3004

706928.678

6035821.475

1929970.090

17.711

1.8048

706931.466

6035835.667

1929976.289

29.115

2.0716

706928.242

6035843.181

1929971.084

28.324

2.4725

706926.208

6035855.568

1929969.505

39.092

1.727

10

10

706918.307

6035850.955

1929976.061

35.604

1.9011

11

11

706922.349

6035841.359

1929978.280

33.361

1.5953

12

12

706913.702

6035845.147

1929967.027

37.521

2.915

13

13

706916.741

6035828.356

1929969.825

22.186

2.3161

14

14

706910.675

6035818.813

1929967.584

17.897

2.5267

15

15

706916.804

6035816.955

1929981.352

17.137

1.888

16

16

706921.475

6035836.190

1929976.877

25.762

5.0016

17

17

706927.893

6035830.238

1929974.628

17.625

2.6309

18

18

706927.528

6035826.435

1929974.621

14.873

2.3046

19

19

706921.855

6035831.768

1929974.216

19.19

2.0235

20

20

706920.595

6035826.448

1929970.272

12.738

2.5347

21

21

706924.206

6035823.097

1929972.540

10.425

3.0455

22

22

706925.761

6035805.324

1929964.042

-3.088

4.8285

23

23

706918.449

6035833.061

1929974.890

17.099

1.7216

24

24

706920.018

6035844.815

1929978.891

20.885

2.8551

706921.662

6035830.947

1929971.555

19.609

2.590

5.9257

12.0391

5.360

10.563

0.959

35.1141

144.9411

28.739

111.58

0.920

Mean
Standard
deviation ()
Variance (2)

253

Table C.10 User position, Receiver clock error and GDOP after smoothening
over an hour due to the JMR method corresponding to 21st February, 2010
S.
No.

GPS
Time
in
Hours

User position due to JMR navigation

solution (in meters)
X position

Y position

706919.854

GDOP

Z position

Receiver
clock
error (m)

6035826.239

1929967.905

9.646

3.0413

706922.708

6035824.722

1929971.358

10.096

2.3629

706922.257

6035828.803

1929972.772

18.745

1.719

706910.217

6035825.888

1929960.461

11.149

4.5943

706919.414

6035827.960

1929971.003

19.337

2.3004

706922.850

6035823.040

1929970.943

20.561

1.8048

706928.757

6035839.498

1929971.620

28.52

2.0716

706930.550

6035838.277

1929971.400

26.493

2.4725

706924.236

6035846.134

1929977.214

33.1

1.727

10

10

706919.496

6035846.643

1929977.834

30.853

1.9011

11

11

706919.377

6035844.052

1929974.639

30.296

1.5953

12

12

706910.086

6035847.411

1929977.299

37.733

2.915

13

13

706914.747

6035830.211

1929970.953

21.644

2.3161

14

14

706911.559

6035820.092

1929969.241

17.907

2.5267

15

15

706918.858

6035820.539

1929975.244

15.794

1.888

16

16

706923.795

6035835.346

1929978.032

24.873

5.0016

17

17

706926.422

6035828.665

1929974.167

17.492

2.6309

18

18

706924.913

6035821.020

1929972.476

12.155

2.3046

19

19

706920.840

6035827.596

1929971.697

14.798

2.0235

20

20

706920.502

6035826.419

1929971.330

11.799

2.5347

21

21

706923.557

6035822.454

1929972.495

9.8595

3.0455

22

22

706925.060

6035809.367

1929967.529

0.053

4.8285

23

23

706919.506

6035832.055

1929974.919

16.451

1.7216

24

24

706919.464

6035833.041

1929975.523

16.326

2.8551

706920.793

6035830.228

1929972.419

18.987

2.5909

5.217

9.604

3.888

8.903

0.95931

27.219

92.252

15.122

79.279

0.92027

Mean
Standard
deviation ()
Variance (2)

254

Table C.11 User position, Receiver clock error and GDOP after smoothening
over an hour due to the MAP method corresponding to 21st February, 2010
S.
No.

GPS
Time
in
Hours

User position due to MAP navigation

solution (in meters)
X position

Y position

706951.549

GDOP

Z position

Receiver
clock
error (m)

6035822.207

1929968.106

9.3755

3.0413

706954.079

6035820.940

1929971.048

10.018

2.3629

706953.750

6035826.207

1929972.506

19.269

1.719

706942.807

6035824.606

1929962.555

13.921

4.3571

706951.174

6035824.257

1929970.944

19.325

2.3004

706954.687

6035818.859

1929970.829

20.323

1.8048

706960.232

6035837.433

1929972.150

29.425

2.0716

706962.177

6035834.927

1929971.547

26.782

2.4725

706956.304

6035843.752

1929976.784

33.683

1.727

10

10

706951.502

6035844.187

1929978.124

31.555

1.9011

11

11

706951.430

6035841.597

1929974.637

30.799

1.5953

12

12

706942.206

6035845.451

1929977.258

38.37

2.915

13

13

706946.735

6035827.345

1929971.244

21.982

2.3161

14

14

706943.242

6035816.736

1929969.042

18.071

2.5267

15

15

706950.368

6035818.654

1929975.938

16.664

1.888

16

16

706955.574

6035831.953

1929978.165

25.023

5.0016

17

17

706958.199

6035824.663

1929974.114

17.324

2.6309

18

18

706956.865

6035817.457

1929972.721

12.299

2.3046

19

19

706952.782

6035824.941

1929972.195

15.436

2.0235

20

20

706952.243

6035823.214

1929971.445

12.114

2.5347

21

21

706955.278

6035819.003

1929972.583

10.036

3.0455

22

22

706956.747

6035809.784

1929969.221

3.4163

4.4425

23

23

706951.106

6035828.960

1929974.644

16.717

1.7216

24

24

706951.402

6035830.358

1929976.057

16.912

2.8551

706952.602

6035827.396

1929972.661

19.535

2.5649

5.085

9.617

3.565

8.705

0.90114

25.858

92.500

12.714

75.79

0.81206

Mean
Standard
deviation ()
Variance (2)

255

Table C.12 User position errors after smoothening over an hour due to all
the three methods corresponding to 21st February, 2010
GPS
Time
in
Hours

RLS method

S.
No.

MAP method

X error
(m)

Y error
(m)

Z error
(m)

X error
(m)

Y error
(m)

Z error
(m)

X error
(m)

Y error
(m)

Z error
(m)

54.419

104.8

38.844

51.055

114.78

41.677

19.36

118.81

41.476

41.651

126.76

42.138

48.2

116.3

38.223

16.83

120.08

38.533

48.052

117.45

47.384

48.652

112.22

36.81

17.159

114.82

37.076

61.813

117.88

49.965

60.691

115.13

49.12

28.102

116.42

47.026

49.678

110.35

40.334

51.495

113.06

38.578

19.735

116.76

38.637

42.231

119.55

39.491

48.059

117.98

38.638

16.222

122.16

38.753

39.442

105.36

33.293

42.152

101.52

37.961

10.677

103.59

37.432

42.667

97.841

38.497

40.359

102.75

38.182

8.7315

106.1

38.034

44.701

85.454

40.077

46.673

94.888

32.368

14.605

97.271

32.797

10

10

52.602

90.067

33.52

51.413

94.379

31.748

19.406

96.835

31.458

11

11

48.56

99.663

31.302

51.531

96.97

34.943

19.479

99.425

34.945

12

12

57.207

95.875

42.555

60.823

93.611

32.283

28.703

95.571

32.324

13

13

54.167

112.67

39.757

56.161

110.81

38.629

24.174

113.68

38.337

14

14

60.234

122.21

41.997

59.35

120.93

40.341

27.667

124.29

40.54

15

15

54.105

124.07

28.229

52.051

120.48

34.338

20.54

122.37

33.644

16

16

49.434

104.83

32.705

47.114

105.68

31.549

15.335

109.07

31.416

17

17

43.016

110.78

34.953

44.487

112.36

35.415

12.71

116.36

35.468

18

18

43.381

114.59

34.96

45.996

120.0

37.106

14.044

123.57

36.86

19

19

49.054

109.25

35.366

50.069

113.43

37.885

18.127

116.08

37.387

20

20

50.314

114.57

39.31

50.407

114.6

38.252

18.666

117.81

38.136

21

21

46.703

117.93

37.042

47.352

118.57

37.087

15.631

122.02

36.998

22

22

45.148

135.7

45.54

45.849

131.66

42.053

14.162

131.24

40.36

23

23

52.459

107.96

34.692

51.402

108.97

34.663

19.803

112.06

34.938

24

24

50.891

96.207

30.69

51.445

107.98

34.059

19.507

110.66

33.525

Mean

49.247

110.07

38.027

50.116

110.79

37.163

18.307

113.63

36.921

Standard
deviation ()

5.925

12.039

5.3609

5.217

9.604

3.888

5.085

9.617

3.565

Variance (2)

35.114

144.94

28.739

27.219

92.252

15.123

25.859

92.501

12.714

JMR method