Global Positioning System Reference
In-Depth Information
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
The transformation matrix
Z
is partitioned similarly,
I
------------
I
11
OO
OZ
22
O
OO
33
10
β
Z
1
=
=
(7.168)
1
------------
I
int
h
i
+
1
,i
represents the negative of the rounded value of
h
i
+
1
,i
.
where
β =−
Z
1
b
z
1
=
(7.169)
Z
1
Q
b
Z
1
=
Z
1
H
T
KHZ
1
=
H
1
K
1
H
1
Q
z,
1
=
(7.170)
[28
It can be shown that the specific form of
Z
1
and the choice of
Z
22
imply the following
updates
Lin
—
1
——
No
*PgE
Q
11
sym
Z
22
Q
21
Z
22
Q
22
Z
22
Q
z,
1
=
(7.171)
Q
31
Q
32
Z
22
Q
33
H
11
OO
H
22
[28
H
1
=
HZ
1
=
H
21
O
(7.172)
H
32
H
31
H
33
1
0
H
22
=
(7.173)
h
i
+
1
,i
+ β
1
h
i
+
2
,i
+ β
h
i
+
2
,i
+
1
h
i
+
2
,i
+
1
h
i
+
3
,i
+ β
h
i
+
3
,i
+
1
h
i
+
3
,i
+
1
H
32
=
(7.174)
.
.
h
n,i
+ β
h
n,i
+
1
h
n,i
+
1
K
1
=
K
(7.175)
Th
e matrix
K
does not change due to this decorrelation transformation.
If
0 the transformation (7.169) is not necessary. However, it is necessary to
ch
eck whether or not the ambiguities
i
and
i
β =
1 should be permuted to achieve further
decorrelation. Consider the permutation transformation
+
