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Eqn (721) results when Aj is approximated to rst order in as Aj = Gj Qj Gj where Gj and Qj are the constant values of G(t) and Q(t) for t [ j , j+1 ] The above discussion has presented one means of accumulating and Qd over a given time period to allow propagation of Pk at the f2 rate In the above approach, N is a design parameter that allows a tradeo between computational load and performance The accumulation of Qd in eqn (721) has the same structure as the time propagation of Pk One possibility is to propagate the error covariance matrix Pk at the rate f1 , which is equivalent to choosing N = f1 , and replaces the accumulation of Qd with the high rate computation of Pk 7253 Time Propagation

Question 4-5

Suppose that we start with 6, add 8 to it, then subtract 12 from that, then subtract 5 from that, then add 2 to that, and finally subtract 23 from that What s the result

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This subsection formulates the equations for propagation of the state estimate and error covariance matrix between position corrections The parenthesis notation x(t) is used to designate variables that are evolving in continuous time The subscript notation xk is used to denote variables at discrete instants of time 0 The EKF is implemented as follows, starting with x+ = x0 and P+ = 0 Px (0) Assuming that the rst position measurement occurs at t = kT = 1s, for k 1 the state estimate is updated by integration of eqn (712) for k 1 t [(k 1)T, kT ] from the initial condition x((k 1)T ) = x+ to produce xk = x(kT ) One implementation of the numeric integration is given in eqn (713) Given k 1 and Qdk 1 , the covariance time propagation can be performed as derived in eqn (549) P k = k 1 P+ k 1 + Qdk 1 k 1 (722)

Value 15 pF 33 pF 10 pF 15 pF 20 pF 30 pF 33 pF 47 pF 56 pF 68 pF 75 pF 82 pF 91 pF 100 pF 120 pF 130 pF 150 pF 180 pF 220 pF 330 pF 470 pF 560 pF 680 pF 750 pF 820 pF

Answer 4-5

244 7254

Let s work this through in steps, paying careful attention to signs and using parentheses when we need them: 6 + ( 8) = 6 8 = 14 14 12 = 26 26 ( 5) = 26 + 5 = 21 21 + ( 2) = 21 2 = 23 23 ( 23) = 23 + 23 = 0

The control segment monitors and ts a polynomial correction to c ts (t) for each satellite Each satellite broadcasts the parameters for its clock correction model The user reads these parameters and corrects for the predictable portion of the satellite clock error as discussed in Section C1 The residual uncorrected satellite clock error is denote as ts Its e ect on the pseudorange measurement is scaled by the speed of light This residual satellite clock error will e ect the pseudorange and carrier phase measurements as indicate in eqns (86) and (825) The rate

Question 4-6

Type Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic Ceramic

What does the commutative law tell us about the sum of two integers What does the associative law tell us about the sum of three integers What do these two laws, taken together, allow us to do

3 x 10

Answer 4-6

of change of the satellite clock error a ects the Doppler measurement as described in eqn (834) The typical range error due to this term is shown in Table 85 Satellite clock error a ects all users (ie, those using C/A-code, P-code, and/or two frequency receivers) in the same fashion The error is independent of the location of the user Therefore, the satellite clock component of di erential corrections is accurate for all users regardless of position

Value 1,000 pF /001 F 1,500 pF /0015 F 2,000 pF /002 F 2,200 pF /0022 F 4,700 pF /0047 F 5,000 pF /005 F 5,600 pF /0056 F 6,800 pF /0068 F 01 015 02 022 033

The commutative law tells us that when we add two integers, we can do it in either order and the sum will be the same If a and b are integers, then a+b=b+a

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