Global Positioning System Reference
In-Depth Information
Q C = A T PA
C T C 1
E T EC T CE T 1 E
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
+
(4.191)
C T EC T 1 E
A T PAQ C =
T C
I
(4.192)
A T PAQ C A T PA
A T PA
=
(4.193)
Q C A T PAQ C =
Q C
(4.194)
The solutions pertaining to the various alternative sets of conditions are all related.
In particular,
T B x C
x B =
(4.195)
[12
T B Q C T B
Q B =
(4.196)
Lin
4.9
——
No
PgE
T C x B
x C =
(4.197)
T C Q B T C
Q C =
(4.198)
Eq uations (4.195) to (4.198) constitute the transformation of minimal control; i.e.,
th ey relate the adjusted parameters and the covariance matrix for different minimal
co nstraints. These transformation expressions are readily proven. For example, by
us ing (4.190), (4.182), (4.192), and (4.177), we obtain
[12
T B x C =−
T B Q C A T P
Q B A T PAQ C A T P
=−
Q B I
C T EC T 1 E A T P
(4.199)
=−
Q B A T P
=−
=
x B
W ith (4.192), (4.187), and (4.194), it follows that
T C Q B T C =
Q C A T PAQ B A T PAQ C
Q C A T PAQ C
(4.200)
=
=
Q C
Instead of using the general condition (4.189), we can use the condition
Ex P
=
o
(4.201)
 
Search WWH ::




Custom Search