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l J
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f
E
lect
rica
l a
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m
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er
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(
I
J
E
CE
)
Vo
l.
15
,
No
.
2
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A
p
r
il
20
25
,
p
p
.
1
7
2
0
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7
3
4
I
SS
N:
2088
-
8
7
0
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,
DOI
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1
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v
15
i
2
.
pp
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7
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0
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1
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3
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1720
J
o
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m
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e
:
h
ttp
:
//ij
ec
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ia
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co
m
Experime
ntal st
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forma
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toty
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a
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K
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:
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Glo
b
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av
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atellite
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y
s
tem
Me
d
ian
Mic
r
o
co
n
tr
o
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v
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T
h
is i
s
a
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o
p
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n
a
c
c
e
ss
a
rticle
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d
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e
CC B
Y
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SA
li
c
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se
.
C
o
r
r
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s
p
o
nd
ing
A
uth
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r
:
Su
h
ad
i
Dep
ar
tm
en
t o
f
I
n
f
o
r
m
atics E
n
g
in
ee
r
in
g
,
Facu
lty
o
f
I
n
f
o
r
m
at
io
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T
ec
h
n
o
lo
g
y
an
d
Dig
ital,
B
an
i Sale
h
Un
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s
ity
J
l.
Ma
d
m
u
in
,
No
.
6
8
B
ek
asi T
im
u
r
,
W
est J
av
a,
1
7
1
1
3
,
I
n
d
o
n
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E
m
ail:
h
ad
im
s
7
1
n
d
l@
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m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
L
an
d
s
u
b
s
id
en
ce
is
o
n
e
o
f
th
e
v
er
tical
d
ef
o
r
m
atio
n
s
o
f
th
e
ea
r
th
'
s
cr
u
s
t
as
a
co
n
s
eq
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en
ce
o
f
cr
u
s
tal
d
y
n
am
ics,
s
u
b
s
id
en
ce
ch
a
n
g
e
s
th
e
v
er
tical
p
o
s
itio
n
(
elev
atio
n
)
o
f
g
r
o
u
n
d
co
n
tr
o
l
p
o
in
ts
as
r
ef
er
en
ce
p
o
in
ts
f
o
r
all
en
g
i
n
ee
r
in
g
wo
r
k
s
an
d
also
af
f
e
cts
th
e
s
tr
u
ct
u
r
e
o
f
all
in
f
r
astru
ctu
r
e
in
o
th
e
r
r
ela
ted
ac
tiv
ities
in
t
h
e
ar
ea
,
lan
d
s
u
b
s
id
en
ce
is
a
m
ajo
r
p
r
o
b
lem
f
ac
ed
b
y
s
ev
er
al
lar
g
e
cities
[
1
]
.
Ob
s
er
v
atio
n
o
f
lan
d
s
u
b
s
id
en
ce
is
n
ee
d
ed
t
o
s
ee
tr
en
d
s
in
g
e
o
m
etr
ic
p
atter
n
s
an
d
p
h
y
s
ical
p
atter
n
s
th
at
o
cc
u
r
,
o
n
e
o
f
th
em
is
th
e
g
lo
b
al
n
av
ig
atio
n
s
atellite
s
y
s
tem
(
GNSS)
s
u
r
v
ey
wh
ich
is
a
m
eth
o
d
o
f
d
eter
m
in
in
g
p
o
i
n
t
co
o
r
d
i
n
ates
u
s
in
g
s
atellite
tech
n
o
lo
g
y
co
m
m
o
n
ly
u
s
ed
in
GNSS
s
u
r
v
ey
s
,
n
am
ely
t
h
e
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS).
GPS
was
d
ev
elo
p
e
d
b
y
th
e
Un
ited
States
Dep
ar
tm
en
t
o
f
Def
en
s
e,
ap
ar
t
f
r
o
m
GPS
p
o
s
itio
n
in
g
with
GNSS
ar
e
GL
ONASS
m
ad
e
b
y
R
u
s
s
ia,
GAL
I
L
E
O
m
a
d
e
b
y
E
u
r
o
p
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an
d
C
OM
PASS
m
ad
e
b
y
C
h
in
a
[
2
]
.
T
h
e
d
ev
elo
p
m
e
n
t
o
f
a
n
atio
n
al
b
asic
f
r
am
ewo
r
k
s
y
s
tem
th
at
u
tili
ze
s
G
PS
i
s
co
n
tin
u
o
u
s
ly
o
p
er
atin
g
r
ef
e
r
en
ce
s
tatio
n
(
C
O
R
S).
GN
SS
C
O
R
S
its
e
lf
is
co
n
n
ec
ted
to
a
web
s
er
v
er
to
f
ac
ilit
ate
th
e
d
ata
r
etr
iev
al
p
r
o
ce
s
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
xp
erimen
ta
l stu
d
y
o
f p
erfo
r
ma
n
ce
a
n
d
p
r
o
to
typ
e
o
f e
llip
tica
l a
ltit
u
d
e
d
etec
tio
n
…
(
Dw
i A
ji
Zu
lfika
r
)
1721
GNSS
C
OR
S
is
an
ac
tiv
e
g
eo
d
etic
f
r
am
e
n
et
in
th
e
f
o
r
m
o
f
a
p
er
m
an
e
n
t
s
tatio
n
(
b
ase
s
tatio
n
)
eq
u
i
p
p
ed
with
a
r
ec
eiv
er
an
d
ca
n
r
ec
eiv
e
s
ig
n
als
f
r
o
m
GNSS
s
atellites
th
at
o
p
er
ate
co
n
tin
u
o
u
s
ly
ev
er
y
d
ay
[
3
]
.
T
h
e
c
o
r
e
o
f
th
e
tech
n
o
lo
g
y
lies
in
a
n
et
wo
r
k
o
f
s
atellites
th
at
co
n
tin
u
o
u
s
ly
em
it
s
ig
n
als
co
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tain
i
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g
p
r
ec
is
e
tim
e
an
d
p
o
s
itio
n
in
f
o
r
m
atio
n
,
r
ec
eiv
e
r
s
th
at
ar
e
u
s
u
ally
in
teg
r
ate
d
in
to
d
ev
ices
s
u
ch
as
s
m
ar
t
p
h
o
n
es
o
r
v
eh
icle
tr
ac
k
in
g
s
y
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tem
s
,
p
ick
u
p
th
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e
s
ig
n
als an
d
u
s
e
tr
ilater
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n
t
ec
h
n
iq
u
es to
d
eter
m
in
e
th
e
ex
ac
t lo
ca
tio
n
.
T
h
e
u
s
e
o
f
GNSS
as
a
p
o
s
iti
o
n
in
g
m
eth
o
d
h
as
b
ee
n
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,
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e
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wh
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s
ed
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o
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th
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f
lan
d
m
o
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e
n
t,
b
asically
th
e
u
s
e
o
f
GNS
S
f
o
r
lan
d
m
o
v
e
m
en
t
is
d
o
n
e
b
y
d
eter
m
in
in
g
th
e
co
o
r
d
in
ates
o
f
m
o
n
ito
r
in
g
p
o
i
n
ts
ca
r
ef
u
lly
an
d
p
er
io
d
ically
.
B
y
s
tu
d
y
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n
g
ch
an
g
es
in
th
e
c
o
o
r
d
in
ates
o
f
th
ese
o
b
s
er
v
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n
p
o
in
ts
co
n
tin
u
o
u
s
ly
o
v
er
tim
e,
th
e
s
p
ee
d
an
d
d
ir
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tio
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o
f
m
o
v
em
en
t
ca
n
b
e
d
eter
m
in
ed
.
B
y
k
n
o
win
g
th
e
v
el
o
city
an
d
d
ir
e
ctio
n
o
f
m
o
v
e
m
en
t,
an
aly
s
is
an
d
esti
m
atio
n
o
f
th
e
s
tr
ain
ca
n
b
e
d
o
n
e
[
4
]
.
T
h
e
g
r
o
wth
i
n
th
e
n
u
m
b
er
an
d
ac
ti
v
ities
o
f
th
e
p
o
p
u
latio
n
is
v
e
r
y
h
ig
h
,
ca
u
s
in
g
b
u
ilt
-
u
p
ar
ea
s
i
n
clu
d
in
g
in
d
u
s
tr
ial,
tr
ad
e,
o
f
f
ice,
an
d
r
esid
en
tial
ar
ea
s
,
wh
ich
ar
e
a
n
ec
ess
ity
an
d
a
m
ea
n
s
o
f
s
u
p
p
o
r
tin
g
th
e
ac
tiv
ities
o
f
th
e
p
o
p
u
latio
n
,
th
is
will
ca
u
s
e
ch
a
n
g
es
in
th
e
p
h
y
s
ical
co
n
d
itio
n
o
f
th
e
e
n
v
ir
o
n
m
en
t
a
n
d
if
n
o
t a
b
le
to
co
n
tr
o
l
o
n
e
o
f
th
e
p
h
y
s
ical
im
p
ac
ts
t
h
at
will
b
e
f
ac
e
d
is
a
v
e
r
y
s
ig
n
if
i
ca
n
t
lan
d
s
u
b
s
id
en
ce
[
5
]
.
I
n
t
h
is
s
tu
d
y
,
th
e
u
s
e
o
f
k
n
o
wled
g
e
g
ain
ed
f
r
o
m
th
e
GNSS
s
y
s
tem
f
o
r
d
etec
tin
g
t
h
e
h
eig
h
t
o
f
th
e
ellip
s
o
id
at
XYZ
,
as
well
as
th
e
ef
f
o
r
ts
m
ad
e
ar
e
ass
em
b
lin
g
a
p
r
o
to
ty
p
e
GNSS sy
s
tem
s
im
p
l
y
an
d
it is
ex
p
ec
ted
th
at
th
e
s
t
ep
s
an
d
p
r
o
ce
d
u
r
es
ca
r
r
ied
o
u
t
to
d
e
v
elo
p
an
e
q
u
ip
m
en
t
th
at
will
later
b
e
a
p
p
l
ied
to
a
s
y
s
tem
in
th
e
s
u
r
v
e
y
ar
ea
th
at
r
e
q
u
ir
es
p
o
s
itio
n
o
b
s
er
v
atio
n
with
m
o
r
e
ac
cu
r
ate
p
o
s
itio
n
r
esu
lts
an
d
f
ac
ilit
ate
p
r
o
ce
s
s
in
g
in
d
ata
m
an
ag
em
en
t
s
o
th
at
it c
an
b
e
u
s
ed
to
an
aly
ze
t
h
e
n
ee
d
s
o
f
d
ev
elo
p
in
g
f
u
tu
r
e
s
u
r
v
ey
ac
tiv
ities
.
Pre
v
io
u
s
r
esear
ch
co
n
d
u
cted
by
Fed
o
r
c
h
u
k
[
6
]
was
to
c
o
m
p
ar
e
th
e
h
eig
h
ts
o
f
th
e
g
l
o
b
al
g
e
o
id
m
o
d
els
E
GM
0
8
,
E
I
GE
N
-
6
C
4
,
GE
C
O,
an
d
XGM
2
0
1
9
e
b
as
ed
o
n
th
e
s
ec
to
r
an
aly
s
is
o
b
tain
ed
r
elativ
e
to
th
e
W
GS8
4
an
d
GR
S8
0
ellip
s
o
id
s
to
im
p
lem
en
t
th
e
GNSS
alig
n
m
en
t
m
eth
o
d
in
th
e
lo
ca
l
ar
e
a.
T
h
e
g
lo
b
al
g
eo
id
m
o
d
el
h
eig
h
t
d
eter
m
i
n
ed
f
r
o
m
th
e
W
GS8
4
ellip
s
o
id
s
h
o
u
l
d
b
e
r
e
d
u
ce
d
b
y
4
1
c
m
,
th
e
s
p
atial
an
aly
s
is
o
f
th
e
g
eo
id
m
o
d
el
h
eig
h
t
in
th
e
r
el
ativ
e
s
y
s
tem
f
o
r
th
e
n
o
r
th
er
n
r
eg
io
n
s
h
o
ws
th
at
th
e
s
tan
d
a
r
d
d
e
v
iatio
n
o
f
t
h
e
g
eo
id
m
o
d
el
h
eig
h
t
is
1
3
.
6
cm
,
an
d
f
o
r
th
e
s
o
u
th
er
n
r
eg
io
n
is
3
6
.
5
cm
.
T
h
e
er
r
o
r
o
f
th
e
g
e
o
id
m
o
d
el
h
ei
g
h
t
in
th
e
r
elativ
e
s
y
s
tem
is
esti
m
ate
d
to
h
av
e
a
s
tan
d
ar
d
d
e
v
iatio
n
o
f
2
.
9
cm
in
th
e
n
o
r
th
er
n
r
e
g
io
n
an
d
2
.
3
cm
in
th
e
s
o
u
th
er
n
r
eg
i
o
n
.
T
h
e
r
o
o
t
m
ea
n
s
s
q
u
ar
e
v
alu
es
o
f
th
e
in
itial
er
r
o
r
s
o
f
th
e
E
GM
0
8
,
E
I
GE
N
-
6
C
4
,
GE
C
O,
an
d
XGM
2
0
1
9
e
m
o
d
els
ar
e
8
.
6
,
4
.
6
,
4
.
4
,
an
d
3
.
8
cm
,
r
esp
ec
tiv
ely
,
an
d
th
eir
s
tan
d
a
r
d
d
ev
iatio
n
v
alu
es
ar
e
2
.
0
,
2
.
2
,
3
.
2
,
an
d
2
.
4
c
m
.
T
h
is
p
ap
er
also
c
o
n
d
u
cted
a
s
ec
to
r
al
an
aly
s
is
o
f
th
e
g
e
o
id
m
o
d
el
er
r
o
r
t
o
co
r
r
ec
t
it
in
th
e
ap
p
licatio
n
o
f
th
e
GNSS
alig
n
m
en
t
m
eth
o
d
with
in
th
e
s
tu
d
y
ar
ea
.
T
h
e
s
tan
d
a
r
d
d
ev
iatio
n
s
o
f
th
e
r
esid
u
al
er
r
o
r
s
o
f
th
e
co
r
r
ec
ted
m
o
d
el
h
ei
g
h
ts
ar
e
1
.
8
,
1
.
9
,
2
.
5
,
an
d
2
.
0
cm
f
o
r
E
GM
0
8
,
E
I
GE
N
-
6
C
4
,
GE
C
O,
an
d
XGM
2
0
1
9
e,
r
esp
ec
tiv
ely
.
T
h
e
m
ea
n
s
q
u
a
r
e
r
o
o
t
v
alu
es
o
f
th
ese
r
esid
u
al
er
r
o
r
s
f
o
r
t
h
e
g
eo
id
m
o
d
els
ar
e
1
.
9
,
2
.
0
,
2
.
5
,
a
n
d
2
.
0
cm
.
Pre
v
io
u
s
r
esear
ch
co
n
d
u
cted
b
y
Ham
za
et
a
l.
[
7
]
th
e
r
esu
lts
o
f
th
e
ze
r
o
b
aselin
es
te
s
t
s
h
o
w
th
at
th
e
u
-
b
lo
x
m
u
lti
-
f
r
eq
u
e
n
cy
r
ec
eiv
er
,
i.e
.
,
Z
E
D
-
F9
P,
h
as
lo
w
n
o
is
e
at
th
e
s
u
b
-
m
illi
m
eter
lev
el.
T
o
an
aly
ze
th
e
im
p
ac
t
o
f
t
h
e
an
ten
n
a
o
n
th
e
o
b
tain
ed
co
o
r
d
in
ates,
a
s
h
o
r
t
b
aselin
e
test
was
ap
p
lied
.
B
o
th
u
n
ca
lib
r
ated
an
ten
n
as
test
ed
(
T
ally
s
m
a
n
T
W
3
8
8
2
an
d
s
u
r
v
ey
)
s
h
o
wed
s
atis
f
ac
to
r
y
p
o
s
itio
n
in
g
p
er
f
o
r
m
an
ce
.
T
h
e
T
ally
s
m
an
an
ten
n
a
was
m
o
r
e
ac
cu
r
ate
in
h
o
r
izo
n
tal
p
o
s
itio
n
in
g
,
an
d
th
e
d
if
f
e
r
en
ce
f
r
o
m
th
e
t
r
u
e
v
alu
e
was
o
n
ly
0
.
1
m
m
;
w
h
ile
f
o
r
t
h
e
s
u
r
v
ey
an
te
n
n
a,
t
h
e
d
if
f
e
r
e
n
ce
was
1
.
0
m
m
.
Fo
r
th
e
e
llip
s
o
id
h
eig
h
t,
th
e
d
if
f
er
en
ce
s
wer
e
0
.
3
a
n
d
0
.
6
m
m
f
o
r
th
e
s
u
r
v
e
y
an
d
T
ally
s
m
an
an
te
n
n
as,
r
esp
ec
tiv
ely
.
C
o
m
p
ar
is
o
n
o
f
lo
w
-
co
s
t
r
ec
eiv
er
s
with
lo
w
-
co
s
t
s
u
r
v
ey
ca
lib
r
ated
an
te
n
n
as
an
d
g
eo
d
etic
in
s
tr
u
m
en
ts
p
r
o
v
ed
b
etter
p
er
f
o
r
m
an
ce
f
o
r
g
eo
d
etic
in
s
tr
u
m
en
ts
.
T
h
e
g
eo
d
etic
GNSS
in
s
tr
u
m
en
t
is
m
o
r
e
ac
c
u
r
ate
th
a
n
th
e
lo
w
-
c
o
s
t
in
s
tr
u
m
en
t,
a
n
d
th
e
p
r
ec
is
io
n
o
f
th
e
co
o
r
d
i
n
ate
esti
m
atio
n
o
f
th
e
g
eo
d
etic
n
etwo
r
k
is
also
g
r
ea
ter
.
L
o
w
-
co
s
t
GNSS
in
s
tr
u
m
en
ts
ar
e
n
o
t
at
th
e
s
am
e
lev
el
as
g
eo
d
etic
in
s
tr
u
m
en
ts
;
h
o
wev
er
,
co
n
s
id
er
in
g
th
eir
co
s
t,
th
ey
s
h
o
w
ex
ce
llen
t p
er
f
o
r
m
an
ce
th
at
is
q
u
ite
s
u
itab
le
f
o
r
v
ar
io
u
s
g
eo
d
etic
ap
p
licatio
n
s
.
T
h
e
p
u
r
p
o
s
e
o
f
th
is
r
esear
ch
is
to
g
et
a
GNSS
p
r
o
t
o
ty
p
e
th
at
ca
n
p
r
o
d
u
ce
r
aw
c
o
o
r
d
in
a
te
p
o
s
itio
n
d
ata
with
th
e
a
v
er
ag
e
m
eth
o
d
o
f
th
r
ee
GPS
an
d
c
o
n
n
ec
te
d
a
n
d
u
p
d
ated
au
to
m
atica
lly
,
f
o
r
p
r
ec
is
io
n
ellip
s
o
id
h
eig
h
t
d
etec
tio
n
an
d
to
an
aly
ze
th
e
p
o
licy
o
f
a
n
ar
ea
t
h
at
h
as
ce
r
tain
ellip
s
o
id
co
n
t
o
u
r
s
as
an
o
b
ject.
T
h
is
r
esear
ch
is
v
er
y
im
p
o
r
tan
t to
u
s
e
b
ec
au
s
e
GNNS
r
ef
er
s
to
a
c
o
n
s
tellatio
n
o
f
s
atellites th
at
p
r
o
v
id
e
p
o
s
itio
n
in
g
,
n
av
ig
atio
n
an
d
tim
in
g
s
er
v
ice
s
in
r
ea
l
tim
e.
GNS
S
tech
n
o
lo
g
y
also
as
an
in
n
o
v
atio
n
in
th
e
f
ield
o
f
tr
ac
k
in
g
d
ev
ices
o
f
f
er
s
m
a
n
y
ad
v
a
n
tag
es
th
at
en
c
o
u
r
ag
e
ef
f
icien
cy
a
n
d
s
af
ety
in
tr
ac
k
in
g
,
th
e
d
ev
elo
p
m
en
t
o
f
GNSS
en
ab
led
s
atellites
is
n
ee
d
ed
as
a
p
r
ec
is
e,
r
eliab
le,
an
d
f
l
ex
ib
le
tr
ac
k
in
g
in
n
av
ig
atin
g
th
e
co
m
p
lex
ity
o
f
m
o
d
er
n
n
etwo
r
k
s
.
2.
M
E
T
H
O
D
I
n
th
e
r
esear
ch
,
an
a
p
p
lied
r
esear
ch
ap
p
r
o
ac
h
will
b
e
ca
r
r
ied
o
u
t,
n
am
ely
as
en
g
in
ee
r
in
g
r
e
s
ea
r
ch
o
n
th
e
ap
p
licatio
n
o
f
s
cien
ce
in
to
a
to
o
l
d
esig
n
to
o
b
tain
to
o
l
p
er
f
o
r
m
an
ce
in
ac
co
r
d
a
n
ce
with
s
p
ec
if
ied
r
eq
u
ir
em
e
n
ts
[
8
]
.
T
h
e
d
esig
n
is
a
s
y
n
th
esis
o
f
d
esig
n
ele
m
en
ts
co
m
b
in
e
d
with
s
cien
ti
f
ic
m
eth
o
d
s
in
to
a
s
y
s
tem
th
at
m
ee
ts
ce
r
tain
s
p
ec
if
icatio
n
s
[
9
]
.
T
h
e
r
esear
c
h
d
e
s
ig
n
is
i
)
d
eter
m
in
in
g
th
e
m
ea
s
u
r
em
en
t
ac
cu
r
ac
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
7
2
0
-
1
7
3
4
1722
s
p
ec
if
icatio
n
s
o
f
th
e
t
o
o
l
in
to
s
ev
er
al
d
esig
n
alter
n
ativ
es,
ii
)
ch
o
o
s
in
g
o
n
e
o
f
th
e
b
est
d
esig
n
alter
n
ativ
es
to
b
e
ap
p
lied
,
an
d
iii
)
ass
em
b
lin
g
t
h
e
m
o
d
u
le,
n
am
ely
th
e
an
ten
n
a
b
r
ac
k
et,
t
h
e
m
eth
o
d
o
f
s
en
d
in
g
an
d
r
etr
iev
in
g
d
ata,
th
e
u
s
e
o
f
m
ain
an
d
s
u
p
p
o
r
tin
g
m
ater
ials
an
d
th
e
lev
el
o
f
d
ata
ac
cu
r
ac
y
.
T
h
e
p
r
o
to
t
y
p
e
d
esig
n
p
r
o
d
u
ce
s
a
GNSS sy
s
tem
th
at
ca
n
b
e
u
s
ed
f
o
r
ellip
s
o
id
h
eig
h
t
d
etec
tio
n
as sh
o
wn
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
GNSS satellit
e
o
r
b
its
an
d
illu
s
tr
atio
n
s
o
f
ellip
s
o
id
,
g
eo
id
,
a
n
d
to
p
o
g
r
ap
h
ic
p
o
s
itio
n
s
2
.
1
.
G
l
o
ba
l
na
v
ig
a
t
io
n sa
t
ell
it
e
s
y
s
t
em
GNSS
is
a
n
av
ig
atio
n
s
y
s
tem
u
s
ed
to
d
eter
m
in
e
th
e
p
o
s
itio
n
o
n
th
e
ea
r
th
'
s
s
u
r
f
ac
e
[
1
0
]
,
GNSS
is
a
tech
n
o
lo
g
y
u
s
ed
to
d
eter
m
i
n
e
th
e
p
o
s
itio
n
o
r
lo
ca
tio
n
(
latitu
d
e,
lo
n
g
itu
d
e,
an
d
altitu
d
e
)
an
d
tim
e
in
s
cien
tific
u
n
its
o
n
ea
r
th
[
1
1
]
.
Satellites
will tr
an
s
m
it h
ig
h
-
f
r
eq
u
en
c
y
r
ad
io
s
ig
n
als co
n
tain
in
g
tim
e
an
d
p
o
s
itio
n
d
ata
th
at
ca
n
b
e
p
ick
ed
u
p
b
y
r
ec
eiv
er
s
th
at
allo
w
u
s
er
s
to
k
n
o
w
th
e
lo
ca
tio
n
an
y
wh
er
e
o
n
t
h
e
e
ar
th
'
s
s
u
r
f
ac
e
[
1
2
]
.
GNSS
s
ig
n
als
o
r
ig
in
atin
g
f
r
o
m
s
atellite
s
tr
av
el
th
r
o
u
g
h
th
e
E
ar
th
'
s
a
tm
o
s
p
h
er
ic
lay
er
s
,
s
o
th
e
s
atelli
te
s
ig
n
al
s
ex
p
er
ien
ce
d
elay
s
,
th
is
af
f
ec
ts
th
e
tim
e
it
tak
es
f
o
r
th
e
s
ig
n
al
f
r
o
m
th
e
s
atellite
to
tr
av
el
to
th
e
GNSS
r
ec
eiv
er
,
wh
ich
h
as a
s
lig
h
t e
r
r
o
r
in
to
t
h
e
GNSS r
ec
eiv
er
,
ca
u
s
in
g
an
e
r
r
o
r
in
th
e
p
o
s
itio
n
m
ea
s
u
r
em
e
n
t
[
1
3
]
.
T
h
e
f
ir
s
t
ca
u
s
e
o
f
d
elay
is
th
at
th
e
s
ig
n
al
m
u
s
t
tr
av
el
th
r
o
u
g
h
th
e
io
n
o
s
p
h
er
e
wh
ich
is
th
e
o
u
ter
ed
g
e
o
f
th
e
atm
o
s
p
h
er
e
.
T
h
e
atm
o
s
p
h
er
e
is
ex
p
o
s
ed
to
s
o
lar
r
ad
iatio
n
wh
ich
ca
u
s
es
p
ar
ticles
t
o
b
ec
o
m
e
p
o
s
itiv
ely
ch
ar
g
ed
.
T
h
is
lay
er
o
f
th
e
at
m
o
s
p
h
er
e
h
as
th
e
g
r
ea
test
im
p
ac
t
o
n
p
ass
in
g
elec
tr
o
m
a
g
n
e
tic
s
ig
n
als
th
at
h
av
e
r
ad
io
s
ig
n
als
s
en
t
f
r
o
m
s
atellites.
T
h
e
in
f
lu
en
ce
o
f
th
e
io
n
o
s
p
h
er
e
will
ad
d
a
r
elativ
ely
lar
g
e
d
elay
d
ep
e
n
d
in
g
o
n
th
e
lo
ca
tio
n
o
f
th
e
r
ec
ei
v
er
,
th
e
lo
ca
tio
n
o
f
th
e
s
atellite,
th
e
tim
e
o
f
d
ay
,
th
e
ac
tiv
ity
o
f
th
e
s
o
lar
f
lar
e,
f
r
o
m
th
ese
f
ac
to
r
s
it
is
co
n
clu
d
ed
th
at
th
e
s
atellite's
jo
u
r
n
ey
,
e
x
p
er
ien
ce
s
a
d
elay
o
f
u
p
to
16
n
ewto
n
s
ec
o
n
d
s
(
1
6
NS)
.
T
h
is
ca
n
ca
u
s
e
an
er
r
o
r
o
f
u
p
to
5
m
eter
s
in
th
e
p
o
s
itio
n
tak
en
[
1
4
]
.
T
h
e
s
ec
o
n
d
d
elay
is
th
e
s
ig
n
al
f
r
o
m
tr
a
v
elin
g
th
r
o
u
g
h
t
h
e
tr
o
p
o
s
p
h
er
e,
th
e
wea
th
er
p
ar
t
o
f
th
e
atm
o
s
p
h
er
e,
wh
ich
in
clu
d
es
c
o
n
d
itio
n
s
s
u
ch
as
clo
u
d
s
,
r
ain
an
d
lig
h
tn
in
g
.
T
h
is
ad
d
s
a
m
u
ch
s
m
aller
d
elay
to
th
e
s
ig
n
al
o
f
u
p
t
o
1
.
5
NS,
wh
ich
ca
n
in
tr
o
d
u
ce
p
o
s
itio
n
er
r
o
r
s
o
f
u
p
to
0
.
5
m
.
T
h
ese
d
elay
s
ar
e
r
an
d
o
m
d
elay
s
th
at
f
lu
ctu
ate
s
o
ea
ch
in
d
iv
i
d
u
al
s
atellite
s
ig
n
al
d
e
lay
is
p
o
s
itio
n
ed
in
a
d
if
f
e
r
e
n
t
ar
ea
ar
o
u
n
d
th
e
wo
r
ld
,
s
o
th
e
s
atellite
s
ig
n
al
will
ex
p
er
ien
ce
d
if
f
er
en
t
atm
o
s
p
h
er
ic
d
is
tu
r
b
an
ce
s
.
T
h
e
ti
m
e
d
elay
f
r
o
m
t
h
e
s
atellite
to
th
e
GNSS
an
ten
n
a
ca
n
af
f
ec
t
th
e
r
ec
o
r
d
e
d
p
o
s
itio
n
d
ata
in
clu
d
in
g
th
e
r
ed
cir
cl
e
wh
ich
s
h
o
ws
th
e
er
r
o
r
f
r
o
m
t
h
e
s
atellite
in
d
icate
d
b
y
atm
o
s
p
h
er
ic
c
o
n
d
itio
n
s
[
1
5
]
.
2
.
2
.
G
l
o
ba
l
po
s
it
io
nin
g
s
y
s
t
em
GPS
i
s
a
s
a
tellite
-
b
ased
n
av
ig
atio
n
s
y
s
tem
d
ev
elo
p
ed
b
y
th
e
US
Dep
ar
tm
en
t
o
f
Def
en
s
e
(
Do
D)
in
th
e
ea
r
ly
1
9
7
0
s
.
I
n
itially
,
GP
S
was
d
ev
elo
p
e
d
as
a
m
ilit
ar
y
s
y
s
tem
to
m
ee
t
th
e
n
ee
d
s
o
f
th
e
Un
ited
States
m
ilit
ar
y
.
So
o
n
a
f
ter
,
h
o
wev
er
,
ac
ce
s
s
was
m
ad
e
av
ailab
le
to
civ
ilian
s
an
d
it
is
n
o
w
a
d
u
al
-
s
y
s
tem
th
at
ca
n
b
e
ac
ce
s
s
ed
b
y
b
o
th
m
ilit
ar
y
an
d
civ
ilian
u
s
er
s
[
1
6
]
.
T
h
e
s
y
s
tem
,
wh
ich
n
o
m
in
ally
co
n
s
is
ts
o
f
2
4
s
atellites,
ca
n
b
e
u
s
ed
b
y
m
an
y
p
eo
p
le
at
o
n
ce
in
all
wea
th
er
s
,
an
d
is
d
esig
n
ed
to
p
r
o
v
id
e
p
r
ec
is
e
th
r
ee
-
d
i
m
en
s
io
n
al
p
o
s
itio
n
an
d
v
elo
city
as we
ll a
s
co
n
tin
u
o
u
s
tim
e
in
f
o
r
m
atio
n
a
r
o
u
n
d
th
e
wo
r
ld
[
1
7
]
.
B
asically
,
GPS
co
n
s
is
ts
o
f
th
r
ee
m
ain
s
eg
m
en
ts
,
n
a
m
ely
th
e
s
p
ac
e
s
eg
m
e
n
t
co
n
s
is
tin
g
o
f
GPS
s
atellite
s
eq
u
ip
p
ed
with
an
te
n
n
as
to
r
ec
ei
v
e
an
d
s
en
d
wa
v
e
s
ig
n
als,
f
u
n
ctio
n
in
g
as
r
a
d
io
s
tatio
n
s
in
s
p
ac
e
[
1
8
]
.
T
h
e
co
n
t
r
o
l
s
y
s
tem
s
eg
m
en
t
co
n
s
is
ts
o
f
s
atellite
m
o
n
ito
r
in
g
a
n
d
c
o
n
tr
o
l
s
tatio
n
s
th
at
f
u
n
ctio
n
to
m
o
n
ito
r
an
d
co
n
tr
o
l
t
h
e
wo
r
k
o
f
all
s
atellites
an
d
en
s
u
r
e
th
e
f
u
n
ctio
n
s
o
f
all
s
atellites
wo
r
k
well
ac
co
r
d
in
g
to
th
eir
f
u
n
ctio
n
s
an
d
t
h
e
u
s
er
s
eg
m
e
n
t
.
I
n
th
e
u
s
er
s
eg
m
en
t
th
e
r
e
ar
e
GPS
r
ec
eiv
er
s
th
at
ar
e
u
s
ed
to
r
ec
eiv
e
an
d
p
r
o
ce
s
s
s
ig
n
als
f
r
o
m
GPS
s
atellites
to
b
e
u
s
ed
in
d
eter
m
i
n
in
g
p
o
s
itio
n
in
f
o
r
m
atio
n
,
s
p
e
ed
,
tim
e
an
d
o
th
er
d
er
iv
ed
p
ar
am
eter
s
[
1
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
xp
erimen
ta
l stu
d
y
o
f p
erfo
r
ma
n
ce
a
n
d
p
r
o
to
typ
e
o
f e
llip
tica
l a
ltit
u
d
e
d
etec
tio
n
…
(
Dw
i A
ji
Zu
lfika
r
)
1723
E
ac
h
GPS
s
atel
lite
co
n
tin
u
o
u
s
ly
em
its
wav
e
s
ig
n
als
a
t
two
L
-
b
an
d
f
r
eq
u
e
n
cies
ca
lled
L
1
an
d
L
2
,
th
e
L
1
s
ig
n
al
h
as
a
f
r
e
q
u
en
c
y
o
f
1
5
7
5
.
4
2
MH
z
an
d
th
e
L
2
s
ig
n
al
h
as
a
f
r
eq
u
e
n
cy
o
f
1
2
2
7
.
6
0
MH
z
th
e
L
1
s
ig
n
al
ca
r
r
ies
two
b
in
ar
y
co
d
es
ca
ll
ed
P
-
co
d
e
(
P
-
co
d
e,
p
r
ec
is
e
o
r
p
r
iv
ate
c
o
d
e
)
a
n
d
C
/A
-
co
d
e
(
C
/A
-
co
d
e,
clea
r
ac
ce
s
s
o
r
co
ar
s
e
ac
q
u
is
itio
n
)
,
wh
ile
th
e
L
2
s
ig
n
al
ca
r
r
ies
o
n
l
y
C
/A
-
co
d
e.
I
t
s
h
o
u
l
d
b
e
n
o
te
d
th
at
at
p
r
esen
t
th
e
P
-
co
d
e
h
as
b
ee
n
co
n
v
er
ted
i
n
to
a
Y
-
co
d
e
wh
o
s
e
s
tr
u
ct
u
r
e
is
k
ep
t
s
ec
r
et
to
t
h
e
p
u
b
li
c
[
2
0
]
.
Usi
n
g
th
e
d
if
f
er
en
tial
(
r
elativ
e)
p
o
s
itio
n
in
g
m
eth
o
d
th
at
u
s
es
a
m
in
im
u
m
o
f
two
GPS
r
ec
eiv
er
s
’
r
esu
lts
in
r
elativ
ely
h
ig
h
er
p
o
s
itio
n
in
g
ac
cu
r
ac
y
[
2
1
]
.
GPS
ca
n
p
r
o
v
id
e
p
o
s
itio
n
s
in
s
tan
tly
(
r
ea
l
-
tim
e)
o
r
a
f
ter
th
e
o
b
s
er
v
atio
n
af
ter
th
e
o
b
s
er
v
atio
n
d
ata
is
p
r
o
ce
s
s
ed
m
o
r
e
ex
ten
s
iv
ely
(
p
o
s
t
p
r
o
ce
s
s
in
g
)
wh
ic
h
is
u
s
u
all
y
d
o
n
e
t
o
g
et
b
etter
ac
cu
r
ac
y
.
T
h
e
ac
cu
r
ac
y
o
f
GPS
p
o
s
itio
n
s
o
b
tain
ed
f
r
o
m
o
b
s
er
v
atio
n
s
d
ep
en
d
s
o
n
f
o
u
r
f
ac
to
r
s
,
n
am
el
y
i
)
p
o
s
itio
n
in
g
m
et
h
o
d
,
ii
)
g
eo
m
etr
y
an
d
d
is
tr
ib
u
tio
n
o
f
th
e
o
b
s
er
v
ed
s
atellites,
iii
)
d
ata
ac
cu
r
ac
y
,
a
n
d
iv
)
d
ata
p
r
o
ce
s
s
in
g
s
tr
ateg
y
/m
eth
o
d
,
with
GPS
th
e
p
o
in
t
t
o
b
e
d
et
er
m
in
ed
ca
n
b
e
s
tatio
n
ar
y
(
s
tatic
p
o
s
itio
n
in
g
)
o
r
m
o
v
in
g
(
k
in
em
atic
p
o
s
itio
n
in
g
)
.
T
h
e
p
o
s
itio
n
o
f
t
h
e
p
o
in
t
c
an
b
e
d
eter
m
i
n
ed
u
s
in
g
o
n
e
G
PS
r
ec
eiv
er
ag
ain
s
t
th
e
ce
n
ter
o
f
th
e
ea
r
th
u
s
in
g
th
e
ab
s
o
lu
te
(
p
o
in
t)
p
o
s
itio
n
in
g
m
eth
o
d
,
o
r
ag
ain
s
t
o
th
er
p
o
i
n
ts
th
at
h
av
e
k
n
o
wn
co
o
r
d
in
ates
[
2
2
]
.
2
.
3
.
G
l
o
ba
l
po
s
it
io
nin
g
s
y
s
t
em
er
ro
rs a
nd
bia
s
T
h
er
e
a
r
e
s
ev
er
al
ty
p
es
o
f
er
r
o
r
s
an
d
b
iases
th
at
af
f
ec
t
GPS
o
b
s
er
v
atio
n
d
ata,
in
clu
d
in
g
er
r
o
r
s
a
n
d
b
iases
r
elate
d
to
s
a
tellite
s
(
s
u
ch
as
ep
h
em
er
is
er
r
o
r
s
,
s
atelli
te
clo
ck
s
,
an
d
s
elec
tiv
e
av
aila
b
ilit
y
)
,
p
r
o
p
a
g
atio
n
m
ed
iu
m
(
s
u
c
h
as
io
n
o
s
p
h
er
i
c
b
ias
an
d
tr
o
p
o
s
p
h
e
r
ic
b
ias)
,
GPS
r
ec
eiv
er
s
(
s
u
ch
as
r
ec
eiv
er
clo
ck
e
r
r
o
r
s
,
an
ten
n
a
er
r
o
r
s
,
a
n
d
n
o
is
e)
,
o
b
s
er
v
atio
n
d
ata
(
p
h
ase
am
b
ig
u
i
ty
an
d
cy
cle
s
lip
s
)
,
an
d
th
e
e
n
v
ir
o
n
m
en
t
ar
o
u
n
d
GPS
r
ec
eiv
er
s
s
u
ch
as
m
u
ltip
ath
[
2
3
]
.
GPS
er
r
o
r
s
an
d
b
iases
m
u
s
t
b
e
p
r
o
p
e
r
ly
an
d
p
r
o
p
er
ly
ac
co
u
n
te
d
f
o
r
as
th
ey
will
af
f
ec
t
th
e
ac
c
u
r
ac
y
o
f
th
e
i
n
f
o
r
m
atio
n
(
p
o
s
itio
n
,
v
e
lo
city
,
ac
ce
ler
atio
n
,
tim
e)
o
b
ta
in
ed
as
well
as
th
e
p
r
o
ce
s
s
o
f
d
eter
m
in
in
g
th
e
p
h
ase
am
b
ig
u
ity
o
f
th
e
GPS
s
ig
n
al
.
T
h
e
o
b
s
er
v
atio
n
s
tr
ateg
y
ap
p
lied
will
also
af
f
ec
t th
e
ef
f
ec
t
o
f
er
r
o
r
s
an
d
b
iases
o
n
th
e
o
b
s
er
v
ati
o
n
d
ata
[
2
4
]
.
I
n
ad
d
itio
n
,
th
e
s
tr
u
ctu
r
e
an
d
lev
el
o
f
s
o
p
h
is
ticatio
n
o
f
th
e
GPS
d
ata
p
r
o
ce
s
s
in
g
s
o
f
twar
e
will
b
e
af
f
ec
ted
b
y
th
e
m
ec
h
a
n
is
m
s
u
s
ed
to
d
ea
l
with
er
r
o
r
s
an
d
b
ia
s
es.
A
m
o
r
e
d
etailed
ex
p
lan
atio
n
o
f
th
e
ef
f
ec
ts
o
f
er
r
o
r
s
an
d
b
iases
.
I
n
g
en
er
al
,
th
er
e
ar
e
s
ev
er
al
way
s
th
at
ca
n
b
e
u
s
ed
in
d
ea
lin
g
with
er
r
o
r
s
,
n
am
ely
i
)
esti
m
ate
th
e
p
ar
am
eter
s
o
f
e
r
r
o
r
s
an
d
b
iases
in
th
e
p
r
o
ce
s
s
o
f
ca
lcu
latin
g
av
er
ag
in
g
,
ii
)
a
p
p
ly
a
d
if
f
e
r
en
cin
g
m
ec
h
an
is
m
b
etwe
en
d
ata,
iii
)
ca
lcu
late
th
e
am
o
u
n
t
o
f
er
r
o
r
/b
ias
b
ased
o
n
s
ize
d
ata,
iv
)
ca
lcu
late
th
e
am
o
u
n
t
o
f
er
r
o
r
/b
ias
b
ased
o
n
th
e
m
o
d
el,
an
d
v
)
u
s
e
t
h
e
r
ig
h
t
o
b
s
er
v
atio
n
s
tr
ateg
y
,
vi
)
u
s
e
th
e
r
i
g
h
t
d
ata
p
r
o
ce
s
s
in
g
s
tr
ateg
y
.
2
.
4
.
H
eig
ht
diff
er
ence
m
e
a
s
urem
ent
Me
asu
r
em
en
t
o
f
h
ei
g
h
t
d
if
f
e
r
en
ce
is
a
m
ea
s
u
r
em
en
t
wo
r
k
to
d
eter
m
in
e
th
e
h
eig
h
t
d
i
f
f
er
en
ce
o
f
s
ev
er
al
p
o
in
ts
o
n
t
h
e
ea
r
th
'
s
s
u
r
f
ac
e
ag
ain
s
t
th
e
a
v
er
ag
e
s
ea
lev
el,
co
n
ce
p
t
u
ally
th
e
h
eig
h
t
d
if
f
er
en
ce
is
d
ef
in
ed
as
th
e
d
if
f
er
e
n
ce
b
et
wee
n
th
e
two
Niv
o
p
lan
es
th
r
o
u
g
h
two
p
o
in
ts
o
n
th
e
ea
r
th
'
s
s
u
r
f
ac
e,
th
e
Niv
o
p
lan
e
is
an
eq
u
ip
o
ten
tial
h
o
r
i
zo
n
tal
p
lan
e
p
er
p
e
n
d
icu
lar
to
th
e
g
r
av
ity
d
ir
ec
tio
n
lin
e
th
r
o
u
g
h
a
p
o
i
n
t
[
2
5
]
.
I
n
m
ea
s
u
r
in
g
h
eig
h
t,
t
h
er
e
a
r
e
s
ev
er
al
ter
m
s
th
at
ar
e
o
f
ten
u
s
ed
i)
a
v
e
r
tical
lin
e
is
a
li
n
e
th
at
p
o
in
ts
to
t
h
e
ce
n
ter
o
f
th
e
ea
r
th
,
wh
ich
is
g
en
er
ally
co
n
s
id
er
ed
th
e
s
am
e
as
an
en
d
less
lin
e
,
ii)
a
h
o
r
izo
n
tal
p
lan
e
is
a
p
la
n
e
p
er
p
en
d
icu
lar
to
t
h
e
v
er
tical
lin
e
at
ea
ch
p
o
i
n
t.
T
h
e
h
o
r
iz
o
n
tal
p
lan
e
is
cu
r
v
ed
to
f
o
llo
w
th
e
s
ea
s
u
r
f
ac
e,
iii)
d
atu
m
is
a
p
lan
e
u
s
ed
a
s
a
r
ef
er
en
ce
p
lan
e
f
o
r
h
eig
h
t,
s
u
ch
as
m
ea
n
s
ea
lev
el,
iv
)
elev
atio
n
is
th
e
v
er
tical
d
is
tan
ce
(
h
eig
h
t)
m
ea
s
u
r
ed
a
g
ain
s
t
th
e
d
atu
m
p
lan
e,
an
d
v
)
B
an
ch
m
ar
k
is
a
f
ix
ed
p
o
i
n
t
wh
o
s
e
elev
atio
n
is
k
n
o
wn
a
g
ain
s
t th
e
d
atu
m
u
s
ed
,
to
g
u
i
d
e
th
e
m
ea
s
u
r
e
m
en
t o
f
th
e
elev
atio
n
o
f
th
e
s
u
r
r
o
u
n
d
in
g
ar
ea
[
2
6
]
.
T
h
e
m
ea
s
u
r
em
en
t
o
f
th
e
h
eig
h
t
d
if
f
er
e
n
ce
m
ad
e
b
y
th
e
f
lat
s
ip
at
o
r
wate
r
p
ass
m
eth
o
d
i
s
th
e
m
o
s
t
th
o
r
o
u
g
h
m
et
h
o
d
c
o
m
p
ar
e
d
t
o
o
th
er
m
eth
o
d
s
,
th
e
h
eig
h
t
o
f
an
o
b
ject
o
n
t
h
e
ea
r
th
'
s
s
u
r
f
ac
e
is
th
e
h
eig
h
t
m
ea
s
u
r
ed
f
r
o
m
a
r
ef
e
r
en
ce
p
la
n
e,
wh
o
s
e
h
eig
h
t is co
n
s
id
er
ed
ze
r
o
[
2
7
]
.
T
h
e
g
eo
d
etic
r
ef
er
e
n
ce
p
lan
e
is
ca
lled
th
e
g
eo
id
,
wh
ich
is
a
n
eq
u
ip
o
ten
tial
p
lan
e
th
at
co
in
cid
es
with
th
e
m
ea
n
s
ea
lev
el,
o
r
a
ls
o
ca
lled
th
e
Niv
o
p
lan
e
an
d
th
ese
p
lan
es
ar
e
alwa
y
s
p
er
p
en
d
icu
lar
to
th
e
d
ir
ec
tio
n
o
f
g
r
av
ity
to
war
d
s
ea
ch
p
o
in
t
o
n
th
e
ea
r
th
'
s
s
u
r
f
ac
e
[
2
8
]
.
Usi
n
g
wate
r
p
ass
eq
u
ip
m
en
t
with
a
tr
ip
o
t,
th
e
d
if
f
er
en
ce
in
th
e
ce
n
te
r
th
r
ea
d
r
ea
d
in
g
b
etwe
en
th
e
two
r
ea
r
s
ig
n
s
less
th
e
f
ac
e
s
ig
n
is
u
s
ed
to
d
eter
m
in
e
th
e
h
eig
h
t
d
if
f
er
e
n
ce
b
etwe
en
two
p
o
in
ts
o
n
th
e
s
u
r
f
ac
e
o
f
th
e
ea
r
t
h
,
m
ea
s
u
r
in
g
tap
e
an
d
m
eter
,
as we
ll a
s
th
e
b
asic p
r
in
cip
le
o
f
m
ea
s
u
r
i
n
g
h
eig
h
t w
ith
a
wate
r
p
ass
to
m
ea
s
u
r
e
th
e
h
eig
h
t
d
if
f
er
en
ce
b
etwe
en
two
p
o
i
n
ts
o
n
th
e
ea
r
th
'
s
s
u
r
f
ac
e.
Flat
-
f
o
ld
h
eig
h
t
d
if
f
er
en
ce
m
ea
s
u
r
em
en
t
is
s
till
th
e
m
o
s
t
th
o
r
o
u
g
h
way
o
f
m
ea
s
u
r
in
g
h
eig
h
t
d
if
f
er
e
n
ce
to
g
et
th
e
o
r
th
o
m
etr
ic
h
eig
h
t
o
f
th
e
ellip
s
o
id
h
eig
h
t,
o
th
er
ad
d
itio
n
al
d
ata
is
n
ee
d
ed
,
n
am
ely
g
eo
id
u
n
d
u
latio
n
[
2
9
]
.
W
ith
th
e
u
n
d
u
latio
n
,
th
e
o
r
th
o
m
etr
ic
h
eig
h
t
ca
n
b
e
ca
lc
u
lated
f
r
o
m
th
e
h
eig
h
t
o
f
th
e
ellip
s
o
id
an
d
th
e
r
e
ar
e
s
ev
e
r
al
m
eth
o
d
s
to
g
et
th
e
p
r
ice
o
f
g
eo
id
u
n
d
u
latio
n
in
clu
d
in
g
th
e
g
eo
m
etr
ic
m
eth
o
d
an
d
th
e
g
r
av
im
etr
ic
m
eth
o
d
,
in
th
e
g
eo
m
etr
ic
m
eth
o
d
,
g
eo
id
u
n
d
u
latio
n
is
ca
lcu
lated
f
r
o
m
a
c
o
m
b
in
atio
n
o
f
s
atellite
p
o
s
itio
n
h
eig
h
t
d
ata
with
h
eig
h
t
an
d
f
lat
f
o
ld
m
ea
s
u
r
em
en
ts
.
I
n
t
h
e
g
r
av
im
etr
ic
m
eth
o
d
,
g
e
o
id
u
n
d
u
latio
n
is
ca
lcu
lated
f
r
o
m
ter
r
estrial
g
r
av
ity
d
ata
an
d
th
e
g
lo
b
al
g
e
o
p
o
te
n
tial m
o
d
el
[
3
0
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
7
2
0
-
1
7
3
4
1724
2
.
5
.
H
eig
ht
det
er
m
ina
t
io
n
w
it
h G
P
S
T
h
e
h
eig
h
t
o
f
th
e
p
o
in
t
g
iv
en
b
y
GPS
is
th
e
h
eig
h
t
o
f
th
e
p
o
in
t
ab
o
v
e
th
e
s
u
r
f
ac
e
o
f
th
e
ellip
s
o
id
,
n
am
ely
th
e
W
GS8
4
ellip
s
o
id
,
th
e
ellip
s
o
id
h
eig
h
t
(
h
)
is
n
o
t
th
e
s
am
e
as
th
e
o
r
t
h
o
m
etr
ic
h
eig
h
t
(
H)
o
b
tain
e
d
f
r
o
m
th
e
m
ea
s
u
r
em
e
n
t o
f
lev
e
llin
g
,
th
e
o
r
th
o
m
etr
ic
h
eig
h
t o
f
a
p
o
in
t is th
e
h
eig
h
t o
f
th
e
p
o
in
t a
b
o
v
e
th
e
g
eo
i
d
m
ea
s
u
r
ed
alo
n
g
th
e
g
r
av
ity
li
n
e
th
r
o
u
g
h
th
e
p
o
in
t
[
3
1
]
.
T
h
e
ellip
s
o
id
h
ei
g
h
t
o
f
a
p
o
in
t
i
s
th
e
h
eig
h
t
o
f
t
h
at
p
o
in
t
ab
o
v
e
th
e
ellip
s
o
id
ca
lc
u
lated
alo
n
g
th
e
ellip
s
o
id
n
o
r
m
al
lin
e
th
r
o
u
g
h
th
at
p
o
i
n
t
f
o
r
p
r
ac
tical
p
u
r
p
o
s
es
th
e
g
eo
id
is
g
en
e
r
ally
c
o
n
s
id
er
ed
to
co
in
cid
e
with
m
ea
n
s
ea
lev
el
[
3
2
]
.
T
h
e
g
eo
id
is
a
r
ef
er
en
ce
p
lan
e
f
o
r
ex
p
r
ess
in
g
o
r
th
o
m
etr
ic
h
eig
h
t,
m
ath
em
atica
lly
th
e
g
eo
id
is
a
v
er
y
co
m
p
lex
s
u
r
f
ac
e
t
h
at
r
eq
u
ir
es
v
er
y
m
a
n
y
p
ar
am
eter
s
to
r
e
p
r
esen
t
th
e
e
ar
th
m
ath
em
atica
lly
a
n
d
f
o
r
m
ath
em
atica
l
ca
lcu
latio
n
s
p
e
o
p
le
g
en
e
r
ally
u
s
e
a
r
ef
er
en
ce
ellip
s
o
id
an
d
n
o
t
a
g
eo
id
[
3
3
]
.
T
h
e
r
ef
er
e
n
ce
elli
p
s
o
id
an
d
g
eo
i
d
g
e
n
er
ally
d
o
n
o
t
co
in
ci
d
e,
an
d
in
th
is
ca
s
e
th
e
h
eig
h
t
o
f
th
e
g
eo
id
with
r
esp
ec
t
to
th
e
ellip
s
o
i
d
is
ca
lled
th
e
g
eo
id
u
n
d
u
latio
n
(
N)
,
to
b
e
ab
le
to
tr
an
s
f
o
r
m
th
e
ellip
s
o
id
h
eig
h
t
f
r
o
m
th
e
GPS
m
ea
s
u
r
em
en
t
to
th
e
o
r
th
o
m
etr
ic
h
eig
h
t,
th
e
g
eo
id
u
n
d
u
latio
n
a
t
th
e
co
r
r
esp
o
n
d
in
g
p
o
i
n
t is r
eq
u
ir
ed
[
3
4
]
.
2
.
6
.
M
o
nito
ring
la
nd
s
ub
s
id
ence
wit
h G
P
S
GPS
h
as
b
ee
n
u
s
ed
s
u
cc
ess
f
u
lly
to
o
b
s
er
v
e
th
e
s
tab
ilit
y
o
f
s
tr
u
ctu
r
es,
an
ap
p
licatio
n
th
a
t
r
eq
u
ir
es
h
ig
h
ac
cu
r
ac
y
i
n
clu
d
in
g
d
ef
o
r
m
atio
n
m
o
n
ito
r
in
g
o
f
d
a
m
s
,
b
r
id
g
es
a
n
d
telev
is
io
n
to
wer
s
.
Mo
n
ito
r
in
g
s
u
b
s
id
en
ce
o
f
o
il
f
ield
s
an
d
m
in
in
g
ar
ea
s
is
an
o
th
er
ex
am
p
le
wh
er
e
GPS
h
as
b
ee
n
u
s
ed
s
u
cc
ess
f
u
lly
,
m
o
n
ito
r
in
g
s
u
b
s
id
en
ce
b
y
ta
k
in
g
GPS
m
ea
s
u
r
em
en
ts
o
f
th
e
s
am
e
ar
ea
at
d
if
f
er
en
t
tim
e
in
ter
v
als.
Slo
w
s
u
b
s
id
en
ce
o
f
s
tr
u
ctu
r
es su
ch
as d
am
s
r
eq
u
ir
es m
illi
m
eter
ac
cu
r
ac
y
to
m
o
n
ito
r
s
u
b
s
id
en
ce
.
W
ith
to
d
ay
'
s
GPS
s
atell
ites
an
d
GPS
r
ec
eiv
er
s
,
as
we
ll
as
m
ath
em
atica
l
alig
n
m
e
n
t
m
o
d
els,
s
u
b
s
id
en
ce
ca
n
b
e
s
ee
n
well
e
n
o
u
g
h
f
o
r
an
in
f
o
r
m
ativ
e
s
u
b
s
id
en
ce
an
aly
s
is
to
b
e
m
ad
e
[
3
5
]
.
Po
in
ts
p
lace
d
at
s
elec
ted
lo
ca
tio
n
s
ar
e
p
er
i
o
d
i
ca
lly
an
d
ca
r
ef
u
lly
c
o
o
r
d
in
at
ed
u
s
in
g
th
e
s
u
r
v
e
y
m
eth
o
d
s
tu
d
y
in
g
th
e
p
atter
n
an
d
s
p
ee
d
o
f
co
o
r
d
in
ate
ch
a
n
g
es
o
f
th
ese
p
o
in
ts
f
r
o
m
o
n
e
s
u
r
v
ey
to
th
e
n
ex
t
.
T
h
e
s
u
b
s
i
d
en
ce
ch
a
r
ac
ter
is
tics
ca
n
b
e
ca
lcu
lated
an
d
f
u
r
th
e
r
s
tu
d
ied
.
T
h
er
e
f
o
r
e
,
in
th
e
s
tu
d
y
o
f
s
u
b
s
id
en
ce
u
s
in
g
GPS
s
u
r
v
ey
m
eth
o
d
,
th
er
e
ar
e
s
ev
er
al
ad
v
a
n
tag
es a
n
d
b
e
n
ef
its
o
f
f
er
ed
,
as d
escr
ib
ed
i
n
th
e
f
o
llo
win
g
p
o
in
ts
[
3
6
]
.
T
h
e
p
r
in
cip
le
o
f
m
o
n
ito
r
in
g
lan
d
s
u
b
s
id
en
ce
with
GPS
is
to
p
lace
m
o
n
ito
r
in
g
p
o
in
ts
i
n
s
ev
er
al
s
elec
ted
lo
ca
tio
n
s
,
ca
r
r
ie
d
o
u
t
co
n
tin
u
o
u
s
ly
s
o
th
at
th
e
co
o
r
d
in
ates
o
f
th
e
m
o
n
ito
r
in
g
p
o
in
ts
ca
n
b
e
d
eter
m
in
ed
ca
r
ef
u
lly
a
n
d
f
r
o
m
GPS
o
b
s
er
v
atio
n
s
th
e
d
ata
to
b
e
o
b
tain
ed
ar
e
in
th
e
f
o
r
m
o
f
m
o
n
ito
r
in
g
p
o
i
n
t
co
o
r
d
in
ates
an
d
tim
e.
B
y
m
a
k
in
g
p
er
i
o
d
ic
o
b
s
er
v
atio
n
s
,
ch
a
n
g
es
in
th
e
p
o
s
itio
n
o
f
a
m
o
n
i
to
r
in
g
p
o
in
t
ca
n
b
e
id
en
tifie
d
b
y
lo
o
k
i
n
g
at
ch
an
g
es
in
th
e
co
o
r
d
in
ate
v
alu
e
o
f
th
e
m
o
n
ito
r
in
g
p
o
in
t
f
r
o
m
tim
e
to
tim
e.
T
o
g
et
th
e
v
alu
e
o
f
la
n
d
s
u
b
s
id
en
ce
is
to
d
eter
m
in
e
th
e
h
eig
h
t
d
if
f
er
en
c
e
o
f
ea
ch
m
ea
s
u
r
em
en
t
[
3
7
]
.
2
.
7
.
St
a
t
is
t
ica
l
da
t
a
t
est
T
h
e
s
tan
d
ar
d
d
e
v
iatio
n
v
alu
e
is
a
v
alu
e
u
s
ed
in
d
eter
m
in
in
g
th
e
d
is
tr
ib
u
tio
n
o
f
d
ata
in
a
s
am
p
le
an
d
s
ee
in
g
h
o
w
clo
s
e
th
e
d
ata
is
t
o
th
e
m
ea
n
v
alu
e.
Stan
d
a
r
d
d
ev
iatio
n
o
r
s
tan
d
ar
d
d
ev
iatio
n
is
th
e
b
est
m
ea
s
u
r
e
o
f
s
p
r
ea
d
,
b
ec
a
u
s
e
it
d
escr
ib
es
th
e
m
ag
n
itu
d
e
o
f
th
e
s
p
r
ea
d
o
f
ea
ch
u
n
it
o
f
o
b
s
er
v
at
io
n
[
3
8
]
.
Stan
d
ar
d
d
ev
iatio
n
is
th
e
s
q
u
ar
e
r
o
o
t
v
alu
e
o
f
a
v
ar
ian
ce
w
h
ich
is
u
s
ed
to
ass
ess
th
e
av
er
ag
e
o
r
ex
p
ec
ted
.
Stan
d
ar
d
d
ev
iatio
n
o
r
s
tan
d
ar
d
d
ev
iatio
n
o
f
d
ata
th
at
h
as b
ee
n
ar
r
a
n
g
e
d
in
a
f
r
eq
u
e
n
cy
tab
le.
T
h
e
s
tan
d
ar
d
d
e
v
iatio
n
v
alu
e
is
a
v
alu
e
u
s
ed
in
d
eter
m
in
in
g
th
e
d
is
tr
ib
u
tio
n
o
f
d
ata
in
a
s
am
p
le
an
d
s
ee
in
g
h
o
w
cl
o
s
e
th
e
d
ata
is
t
o
th
e
m
ea
n
v
alu
e
[
3
9
]
.
Statis
tically
,
it
is
s
tated
th
at
th
e
lar
g
er
th
e
s
am
p
le
s
ize,
th
e
b
etter
th
e
r
esu
lts
.
W
ith
a
l
ar
g
e
s
am
p
le,
th
e
m
ea
n
an
d
s
tan
d
ar
d
d
e
v
iatio
n
o
b
tain
e
d
h
av
e
a
h
ig
h
p
r
o
b
a
b
ilit
y
o
f
r
esem
b
lin
g
th
e
m
ea
n
an
d
s
tan
d
ar
d
d
ev
iatio
n
o
f
th
e
p
o
p
u
la
tio
n
.
T
h
is
is
b
ec
au
s
e
th
e
s
am
p
le
s
ize
is
r
elate
d
to
s
tatis
t
ical
h
y
p
o
th
esis
test
in
g
,
alth
o
u
g
h
a
lar
g
e
s
am
p
le
will
b
e
b
etter
,
a
s
m
all
s
am
p
le
wh
en
r
an
d
o
m
ly
s
elec
ted
ca
n
also
ac
cu
r
ately
r
ef
lect
th
e
p
o
p
u
latio
n
[
4
0
]
.
T
h
e
s
tan
d
ar
d
d
e
v
iatio
n
v
alu
e
is
a
v
alu
e
u
s
ed
in
d
eter
m
in
in
g
th
e
d
is
tr
ib
u
tio
n
o
f
d
ata
in
a
s
am
p
le
an
d
s
ee
in
g
h
o
w
clo
s
e
th
e
d
ata
is
t
o
th
e
m
ea
n
v
alu
e,
th
e
g
r
ea
ter
t
h
e
s
tan
d
ar
d
d
e
v
iatio
n
v
alu
e,
t
h
e
m
o
r
e
d
iv
er
s
e
th
e
v
alu
es
o
n
th
e
item
o
r
t
h
e
m
o
r
e
in
ac
cu
r
ate
th
e
m
ea
n
,
co
n
v
er
s
ely
th
e
s
m
aller
t
h
e
s
tan
d
a
r
d
d
ev
iatio
n
,
th
e
m
o
r
e
s
im
ilar
th
e
v
alu
es
o
n
t
h
e
ite
m
o
r
th
e
m
o
r
e
ac
cu
r
ate
th
e
m
ea
n
[
4
1
]
.
An
aly
s
is
o
f
ca
lcu
l
atio
n
s
with
th
e
m
ea
n
m
eth
o
d
,
n
am
ely
ca
lcu
latin
g
t
h
e
av
er
ag
e
v
al
u
e
is
to
ad
d
u
p
al
l
in
d
iv
id
u
al
d
ata
in
t
h
e
g
r
o
u
p
,
th
en
d
iv
id
e
b
y
th
e
n
u
m
b
er
o
f
i
n
d
iv
id
u
als in
th
e
g
r
o
u
p
,
as in
(
1
)
:
=
∑
=
1
(
1
+
2
+
⋯
+
)
(
1
)
wh
er
e
is
th
e
m
ea
n
o
r
av
e
r
ag
e,
∑
is
th
e
s
u
m
,
is
th
e
v
ar
iab
le
an
d
is
th
e
n
u
m
b
er
o
f
v
alu
es.
T
o
ca
lcu
late
th
e
m
ed
ian
,
th
e
m
id
d
le
v
alu
e
is
b
ased
o
n
th
e
m
id
d
le
v
alu
e
o
f
th
e
d
ata
g
r
o
u
p
th
at
h
as
b
ee
n
ar
r
a
n
g
ed
in
o
r
d
er
f
r
o
m
s
m
allest to
lar
g
est o
r
v
ice
v
e
r
s
a
f
r
o
m
lar
g
est to
s
m
allest,
as in
(
2
)
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
xp
erimen
ta
l stu
d
y
o
f p
erfo
r
ma
n
ce
a
n
d
p
r
o
to
typ
e
o
f e
llip
tica
l a
ltit
u
d
e
d
etec
tio
n
…
(
Dw
i A
ji
Zu
lfika
r
)
1725
=
1
+
2
2
(
2
)
wh
er
e
is
th
e
m
ed
ian
,
1
is
th
e
m
id
d
le
v
alu
e
wh
er
e
t
h
e
m
ed
ian
is
lo
ca
ted
an
d
2
th
e
s
ec
o
n
d
m
id
d
le
v
alu
e
wh
er
e
th
e
m
ed
ian
is
lo
c
ated
.
T
o
ca
lcu
late
th
e
f
r
e
q
u
en
tly
o
c
cu
r
r
in
g
v
alu
e
f
r
o
m
a
g
r
o
u
p
o
f
d
ata
th
at
h
as
th
e
h
ig
h
est
f
r
eq
u
en
cy
o
r
th
e
m
o
s
t o
cc
u
r
r
in
g
v
alu
e
in
a
g
r
o
u
p
o
f
v
alu
es,
as in
(
3
)
:
=
+
(
+
)
(
3
)
wh
er
e
is
th
e
m
o
d
e,
is
th
e
lo
wer
p
o
in
t
o
f
th
e
m
o
d
e
class
(
t
h
e
class
with
th
e
la
r
g
est
f
r
e
q
u
en
cy
)
,
a
is
th
e
d
if
f
er
en
ce
b
etwe
en
th
e
f
r
eq
u
e
n
cy
o
f
th
e
class
an
d
th
e
p
r
e
v
io
u
s
o
n
e,
b
is
th
e
d
if
f
er
en
ce
b
etwe
en
th
e
f
r
eq
u
e
n
cy
an
d
th
e
o
n
e
af
ter
it a
n
d
is
th
e
class
in
ter
v
al.
T
o
ca
lcu
late
th
e
s
tan
d
ar
d
d
e
v
iatio
n
o
f
in
d
i
v
id
u
al
v
alu
es
ag
ain
s
t
th
e
g
r
o
u
p
m
ea
n
,
th
e
s
tan
d
ar
d
d
ev
iatio
n
is
t
h
e
s
q
u
ar
e
r
o
o
t
o
f
th
e
v
ar
ian
ce
an
d
in
d
icate
s
t
h
e
s
tan
d
ar
d
d
ev
iatio
n
o
f
th
e
d
ata
f
r
o
m
its
m
ea
n
v
alu
e,
as in
(
4
)
:
=
√
∑
(
1
−
)
2
−
1
(
4
)
wh
er
e
S
is
th
e
s
tan
d
ar
d
d
ev
iat
io
n
,
N
is
th
e
n
u
m
b
er
o
f
d
ata,
1
is
th
e
1
s
t
to
n
th
v
alu
e
a
n
d
x
i
s
th
e
av
er
a
g
e
v
alu
e.
2
.
8
.
P
r
o
t
o
t
y
pe
d
esig
n
At
th
e
p
r
o
to
ty
p
e
d
esig
n
s
tag
e,
th
e
e
q
u
ip
m
e
n
t
n
ee
d
ed
is
th
e
u
-
b
lo
k
Neo
-
7
M
m
o
d
u
le
wh
ic
h
f
u
n
ctio
n
s
to
r
ec
eiv
e
GNSS
s
ig
n
als,
th
ese
s
ig
n
als
p
r
o
v
id
e
ce
r
tain
co
d
e
s
,
s
o
th
ey
ca
n
b
e
r
ec
o
g
n
ized
a
t
th
e
r
ec
eiv
er
.
Fro
m
GNNS
th
en
s
en
d
s
th
ese
co
d
es
to
th
e
Ar
d
u
in
o
Un
o
m
o
d
u
le
an
d
Ar
d
u
i
n
o
im
m
e
d
iately
p
e
r
f
o
r
m
s
th
e
s
to
r
ag
e
p
r
o
ce
s
s
o
n
th
e
SD
C
ar
d
.
Fro
m
GNNS,
th
e
d
ata
r
ec
eiv
ed
to
th
e
E
SP
3
2
W
i
-
Fi
m
o
d
u
le
f
o
r
f
u
r
th
er
p
r
o
ce
s
s
in
g
to
th
e
d
atab
ase
s
er
v
er
s
to
r
a
g
e.
T
h
e
r
esu
lts
o
f
th
e
d
esig
n
m
o
d
el
ca
n
b
e
s
ee
n
i
n
th
e
d
esig
n
o
f
Fig
u
r
e
2
wh
ich
s
h
o
ws th
e
g
en
er
al
in
s
tallatio
n
o
f
th
e
s
y
s
tem
to
b
e
m
ad
e.
Fig
u
r
e
2
.
Pro
t
o
ty
p
e
o
f
GNSS sy
s
tem
T
h
e
way
th
e
to
o
l
wo
r
k
s
is
th
at
th
e
GPS
an
ten
n
a
co
n
s
is
ts
o
f
a
u
-
b
lo
x
Neo
-
7
M
m
o
d
u
le
wh
ich
f
u
n
ctio
n
s
to
f
in
d
f
o
u
r
o
r
m
o
r
e
s
atellites
b
y
d
etec
tin
g
s
ig
n
als
em
itted
f
r
o
m
s
atellites
r
ec
eiv
ed
b
y
th
e
GPS
an
ten
n
a,
th
e
n
co
n
n
ec
ted
v
ia
a
n
R
S
-
4
8
5
m
o
d
u
le
f
o
r
f
u
r
th
e
r
p
r
o
ce
s
s
in
g
o
n
th
e
Ar
d
u
in
o
U
n
o
m
o
d
u
le,
th
e
n
th
e
r
ec
eiv
ed
s
atellite
s
ig
n
al
will
b
e
s
en
t
to
th
e
r
ec
eiv
er
v
ia
a
d
at
a
ca
b
le.
GPS
r
ec
eiv
er
wh
ich
f
u
n
ctio
n
s
to
r
ec
ei
v
e
an
d
s
to
r
e
s
atellite
s
ig
n
al
d
at
a
r
ec
eiv
ed
b
y
th
e
GPS
an
ten
n
a
an
d
s
en
d
th
e
d
ata
to
th
e
web
s
er
v
er
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
7
2
0
-
1
7
3
4
1726
co
n
s
is
tin
g
o
f
Ar
d
u
in
o
Un
o
co
m
p
o
n
e
n
ts
co
n
n
ec
ted
v
ia
R
S
-
4
8
5
m
o
d
u
le
to
p
r
o
g
r
am
th
e
SS
D
ca
r
d
m
o
d
u
le
as
d
ata
s
to
r
ag
e
a
n
d
p
r
o
g
r
am
th
e
E
s
p
3
2
-
S
W
i
-
Fi
m
o
d
u
le
f
o
r
th
e
p
r
o
ce
s
s
o
f
s
en
d
in
g
d
ata
t
o
th
e
web
s
er
v
er
s
y
s
tem
in
r
ea
l tim
e.
T
h
e
p
o
les u
s
ed
u
s
e
3
0
4
s
tain
less
s
teel
-
b
ased
p
ip
es wh
ich
h
av
e
an
ti
-
co
r
r
o
s
io
n
p
r
o
p
er
ties
an
d
h
av
e
b
etter
s
tr
en
g
th
in
o
u
td
o
o
r
wit
h
s
izes
o
f
4
in
ch
es
a
n
d
1
in
c
h
with
a
p
o
le
h
eig
h
t
o
f
1
2
0
c
m
an
d
th
e
len
g
th
o
f
ea
ch
s
id
e
is
6
0
cm
,
in
ass
em
b
lin
g
th
is
p
o
le
u
s
in
g
th
e
e
q
u
ilater
al
tr
ian
g
le
m
eth
o
d
an
d
also
r
e
q
u
ir
es a
cc
u
r
ac
y
s
o
th
at
n
o
er
r
o
r
s
o
cc
u
r
wh
en
weld
in
g
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
I
n
th
e
d
esig
n
an
d
ass
em
b
ly
o
f
th
is
web
-
b
ased
GNSS
co
n
tin
u
es
p
o
s
itio
n
in
g
s
y
s
tem
p
r
o
to
ty
p
e
is
d
iv
id
ed
in
t
o
th
r
ee
p
ar
ts
,
n
am
ely
i
)
th
e
GPS
an
ten
n
a
f
u
n
cti
o
n
s
to
d
etec
t
an
d
r
ec
eiv
e
ele
ctr
o
m
ag
n
etic
wav
es
em
itted
b
y
GNSS
s
atellites
t
h
en
s
en
t
to
th
e
r
ec
eiv
er
f
o
r
f
u
r
th
er
p
r
o
ce
s
s
in
g
;
ii
)
th
e
r
e
ce
iv
er
f
u
n
ctio
n
s
to
p
r
o
ce
s
s
th
e
d
ata
r
ec
eiv
ed
b
y
t
h
e
GPS
an
ten
n
a,
th
e
n
t
h
e
d
ata
is
s
to
r
ed
in
th
e
m
em
o
r
y
ca
r
d
m
o
d
u
le,
an
d
s
en
d
s
th
e
d
ata
to
th
e
b
ase
s
er
v
er
;
a
n
d
iii
)
th
e
web
s
ite
f
u
n
ctio
n
s
t
o
d
is
p
lay
th
e
p
ag
e
o
r
d
ata
in
f
o
r
m
atio
n
r
ec
ei
v
ed
b
y
th
e
r
ec
eiv
er
to
b
e
p
r
esen
ted
to
th
e
u
s
er
in
o
r
d
er
to
f
a
cilitate
th
e
p
r
o
ce
s
s
o
f
d
o
wn
l
o
ad
in
g
a
n
d
p
r
o
ce
s
s
in
g
d
ata.
I
n
th
e
d
esig
n
an
d
ass
em
b
ly
o
f
th
is
GNSS
s
y
s
tem
p
r
o
to
ty
p
e,
s
ev
er
al
e
q
u
ip
m
e
n
t
is
u
s
ed
as
s
u
p
p
o
r
t,
n
am
el
y
an
ten
n
as,
r
ec
eiv
e
r
s
an
d
we
b
i
n
f
o
r
m
atio
n
.
B
asically
,
th
e
m
et
h
o
d
in
d
eter
m
i
n
in
g
t
h
e
p
o
s
itio
n
u
s
in
g
GNNS
ca
n
b
e
g
r
o
u
p
e
d
in
to
s
ev
er
al
m
o
d
es
th
at
ca
n
b
e
u
s
ed
b
ased
o
n
th
e
n
ee
d
s
o
f
k
in
em
atic,
s
tatic,
r
ap
id
s
tatic,
p
s
eu
d
o
-
k
i
n
em
atic
s
to
p
an
d
g
o
.
I
n
th
is
s
tu
d
y
th
e
m
eth
o
d
u
s
ed
is
p
s
eu
d
o
-
k
in
em
atic
s
to
p
an
d
g
o
s
o
th
at
th
e
ac
cu
r
ac
y
u
s
ed
is
p
r
ec
is
io
n
.
th
e
d
if
f
er
e
n
ce
with
GNSS
with
n
av
ig
atio
n
s
atellites
is
th
at
it
h
as
th
e
ab
ilit
y
to
p
r
o
v
id
e
in
f
o
r
m
atio
n
r
elate
d
to
th
e
p
o
s
itio
n
o
f
th
e
l
o
ca
tio
n
g
eo
g
r
ap
h
ically
an
d
tim
e
s
y
n
ch
r
o
n
izatio
n
in
th
e
u
s
e
o
f
s
ig
n
al
in
r
ea
l
tim
e
f
r
o
m
n
a
v
ig
atio
n
s
atellites
o
r
b
itin
g
in
th
e
s
k
y
,
n
av
ig
atio
n
s
atellites
ar
e
g
en
er
ally
u
s
ed
in
v
ar
io
u
s
s
ec
to
r
s
s
u
ch
as r
esear
c
h
ac
cu
r
ac
y
,
s
u
p
p
o
r
t in
s
ea
r
ch
an
d
r
escu
e,
ea
r
th
s
cien
ce
,
tr
an
s
p
o
r
tatio
n
.
3
.
1
.
G
NSS
o
bs
er
v
a
t
io
n t
r
a
ini
ng
da
t
a
wit
h a
bs
o
lute
m
et
h
o
d
Ob
s
er
v
atio
n
s
wer
e
ca
r
r
ied
o
u
t
f
o
r
o
n
e
h
o
u
r
with
an
o
b
s
er
v
at
io
n
tim
e
in
ter
v
al
o
f
o
n
e
s
ec
o
n
d
with
th
e
o
b
s
er
v
atio
n
lo
ca
tio
n
at
XYZ
,
with
co
o
r
d
in
ates 0
6
֯
0
9
'
4
9
.
5
9
1
5
3
"
S
-
10
6
֯
5
3
'
0
7
.
9
7
3
7
7
"
E
.
T
h
en
th
e
o
b
s
er
v
atio
n
d
ata
was
d
o
wn
lo
ad
ed
an
d
th
e
d
ata
was
v
alid
ated
u
s
in
g
r
aw
co
n
v
er
s
io
n
f
r
o
m
d
ec
im
al
d
eg
r
ee
s
f
o
r
m
at
to
UT
M
(
co
o
r
d
i
n
ated
u
n
iv
er
s
al
tim
e
)
f
o
r
m
at.
Fu
r
th
er
m
o
r
e,
to
an
aly
z
e
an
d
f
in
d
o
u
t
h
o
w
b
ig
th
e
s
tan
d
ar
d
d
e
v
iatio
n
is
,
an
an
aly
s
is
is
ca
r
r
ied
o
u
t
u
s
in
g
a
s
tatis
tical
f
o
r
m
u
la.
T
h
is
is
d
o
n
e
to
f
in
d
o
u
t
an
d
ascer
tain
wh
eth
er
th
is
to
o
l
ca
n
r
ea
lly
r
ec
o
r
d
r
aw
f
r
o
m
G
NSS
s
ig
n
al
r
ec
o
r
d
in
g
r
esu
lts
,
as
well
as
to
f
in
d
o
u
t
th
e
q
u
ali
ty
o
f
th
e
d
ata
ca
n
b
e
v
alid
ated
co
r
r
ec
tly
.
T
h
e
o
b
s
er
v
atio
n
d
is
tr
ib
u
tio
n
d
ata
u
s
ed
is
3
,
6
0
0
d
ata
r
ec
eiv
ed
at
th
e
GPS
r
ec
eiv
er
,
th
e
o
b
s
er
v
atio
n
r
esu
lts
o
f
th
e
d
is
tr
ib
u
tio
n
d
ata
will b
e
u
s
ed
as tr
a
in
in
g
d
ata,
as in
T
ab
le
1
.
T
ab
le
1
.
R
aw
d
is
tr
ib
u
tio
n
o
f
o
b
s
er
v
atio
n
s
f
r
o
m
GPS r
ec
eiv
er
s
No
D
a
t
e
Ti
mes
C
o
o
r
d
i
n
a
t
e
G
P
S
-
1
G
P
S
-
2
G
P
S
-
3
Ea
st
i
n
g
N
o
r
t
h
i
n
g
Ea
st
i
n
g
N
o
r
t
h
i
n
g
Ea
st
i
n
g
N
o
r
t
h
i
n
g
1
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
0
7
0
8
6
4
3
.
6
0
8
1
0
6
8
1
6
7
7
.
8
5
5
7
0
8
6
5
1
.
6
8
8
1
0
6
8
1
6
7
8
.
2
3
4
7
0
8
6
4
7
.
7
2
1
1
0
6
8
1
6
7
8
.
3
1
2
2
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
1
7
0
8
6
4
3
.
5
9
0
1
0
6
8
1
6
7
7
.
8
5
5
7
0
8
6
5
1
.
7
0
6
1
0
6
8
1
6
7
8
.
2
1
5
7
0
8
6
4
7
.
7
3
9
1
0
6
8
1
6
7
8
.
3
6
7
3
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
2
7
0
8
6
4
3
.
5
9
0
1
0
6
8
1
6
7
7
.
8
3
6
7
0
8
6
5
1
.
6
8
8
1
0
6
8
1
6
7
8
.
1
2
3
7
0
8
6
4
7
.
7
7
6
1
0
6
8
1
6
7
8
.
3
8
6
4
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
3
7
0
8
6
4
3
.
5
7
1
1
0
6
8
1
6
7
7
.
8
1
8
7
0
8
6
5
1
.
6
7
0
1
0
6
8
1
6
7
8
.
0
3
1
7
0
8
6
4
7
.
8
1
3
1
0
6
8
1
6
7
8
.
4
2
3
5
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
4
7
0
8
6
4
3
.
5
5
3
1
0
6
8
1
6
7
7
.
8
1
8
7
0
8
6
5
1
.
6
7
0
1
0
6
8
1
6
7
8
.
0
8
6
7
0
8
6
4
7
.
8
3
1
1
0
6
8
1
6
7
8
.
4
4
1
…
…
…
…
…
…
…
…
…
3
5
9
9
0
5
/
1
1
/
2
0
2
3
1
1
:
2
8
:
5
8
7
0
8
6
4
6
.
4
0
5
1
0
6
8
1
6
8
0
.
0
5
8
7
0
8
6
4
7
.
4
8
1
1
0
6
8
1
6
8
3
.
4
3
6
7
0
8
6
4
6
.
7
2
9
1
0
6
8
1
6
7
6
.
9
8
1
3
6
0
0
0
5
/
1
1
/
2
0
2
3
1
1
:
2
8
:
5
9
7
0
8
6
4
6
.
3
8
6
1
0
6
8
1
6
8
0
.
0
4
0
7
0
8
6
4
7
.
4
6
3
1
0
6
8
1
6
8
3
.
4
3
6
7
0
8
6
4
6
.
7
6
6
1
0
6
8
1
6
7
6
.
9
6
3
T
o
o
b
tain
v
alid
d
ata
f
r
o
m
GP
S
-
1
,
GPS
-
2
,
GPS
-
2
af
ter
co
n
v
er
s
io
n
to
UT
M,
th
e
o
b
s
er
v
at
io
n
d
ata
is
an
aly
ze
d
u
s
in
g
a
s
tatis
tical
f
o
r
m
u
la
eq
u
atio
n
with
th
e
ab
s
o
lu
te
m
eth
o
d
(
m
ea
n
,
m
ed
ia
n
,
m
o
d
e,
s
tan
d
a
r
d
d
ev
iatio
n
)
with
th
e
f
o
r
m
u
la
(
1
)
:
=
∑
=
1
(
1
+
2
+
⋯
+
)
(
1
)
GPS
-
1
E
asti
n
g
: 7
0
8
6
4
6
.
9
6
No
r
th
in
g
:
1
0
6
8
1
6
7
8
.
6
6
GPS
-
2
E
asti
n
g
: 7
0
8
6
4
9
.
5
3
No
r
th
in
g
: 1
0
6
8
1
6
7
9
.
4
1
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
E
xp
erimen
ta
l stu
d
y
o
f p
erfo
r
ma
n
ce
a
n
d
p
r
o
to
typ
e
o
f e
llip
tica
l a
ltit
u
d
e
d
etec
tio
n
…
(
Dw
i A
ji
Zu
lfika
r
)
1727
GPS
-
3
E
asti
n
g
: 7
0
8
6
4
5
.
9
9
No
r
th
in
g
: 1
0
6
8
1
6
7
8
.
0
8
Me
d
ian
(
=
1
+
2
2
)
(
2
)
GPS
-
1
E
asti
n
g
: 7
0
8
6
4
6
.
8
8
No
r
th
in
g
: 1
0
6
8
1
6
7
8
.
8
0
GPS
-
2
E
asti
n
g
: 7
0
8
6
4
9
.
4
6
No
r
th
in
g
: 1
0
6
8
1
6
7
9
.
6
4
GPS
-
3
E
asti
n
g
: 7
0
8
6
4
6
.
0
3
No
r
th
in
g
: 1
0
6
8
1
6
7
8
.
1
0
Mo
d
u
s
(
=
+
(
+
)
)
(
3
)
GPS
-
1
E
asti
n
g
: 7
0
8
6
4
6
.
5
8
No
r
th
in
g
: 1
0
1
0
6
8
1
6
7
8
.
4
4
GPS
-
2
E
asti
n
g
: 7
0
8
6
4
9
.
5
8
No
r
th
in
g
: 1
0
6
8
1
6
7
9
.
3
0
GPS
-
3
E
asti
n
g
: 7
0
8
6
4
5
.
9
9
No
r
th
in
g
: 1
0
6
8
1
6
7
7
.
8
8
Stan
d
ar
d
Dev
iatio
n
(
=
√
∑
(
1
−
)
2
−
1
)
(
4
)
GPS
-
1
E
asti
n
g
: 1
.
0
9
No
r
th
in
g
: 1
.
0
8
GPS
-
2
E
asti
n
g
: 1
.
1
9
No
r
th
in
g
: 1
.
3
2
GPS
-
3
E
asti
n
g
: 0
.
5
4
No
r
th
in
g
: 0
.
6
4
Deta
ils
o
f
th
e
r
ec
ap
itu
latio
n
o
f
ca
lcu
latio
n
s
u
s
in
g
s
tatis
tical
f
o
r
m
u
la
eq
u
atio
n
s
with
ab
s
o
lu
te
m
eth
o
d
s
(
m
ea
n
,
m
ed
ian
,
m
o
d
e,
s
tan
d
ar
d
d
e
v
iatio
n
)
ca
n
b
e
s
ee
n
in
T
ab
le
2
.
Fo
r
th
e
ca
lc
u
latio
n
o
f
s
tan
d
ar
d
d
ev
iatio
n
o
n
GPS
-
1
ea
s
tin
g
o
f
1
.
0
9
m
a
n
d
n
o
r
th
in
g
o
f
1
.
0
8
m
,
GPS
-
2
ea
s
tin
g
o
f
1
.
1
9
m
an
d
n
o
r
th
in
g
o
f
1
.
3
2
m
,
GPS
-
3
ea
s
tin
g
o
f
0
.
5
4
m
an
d
n
o
r
th
in
g
o
f
0
.
6
4
m
.
C
ir
cu
lar
er
r
o
r
p
r
o
b
ab
ilit
y
(
C
E
P
)
s
tan
d
ar
d
izatio
n
is
s
u
ed
b
y
u
-
b
lo
x
Neo
7
M
f
r
o
m
th
e
ca
lcu
latio
n
r
esu
lts
h
as m
et
th
e
s
tan
d
ar
d
o
f
2
.
5
m
.
Fu
r
th
er
m
o
r
e
,
to
an
aly
ze
a
n
d
f
in
d
o
u
t
h
o
w
b
ig
t
h
e
s
tan
d
ar
d
d
ev
iatio
n
is
o
n
th
e
tr
ain
in
g
d
ata,
th
e
o
b
s
er
v
atio
n
r
esu
lts
will
b
e
an
aly
ze
d
u
s
in
g
s
tatis
tical
f
o
r
m
u
las.
W
ith
o
b
s
er
v
atio
n
d
is
tr
ib
u
tio
n
d
ata
o
f
3
,
6
0
0
d
ata
r
ec
eiv
ed
at
th
e
GPS
r
ec
ei
v
er
.
T
h
e
r
esu
lts
o
f
th
e
o
b
s
er
v
a
tio
n
an
aly
s
is
o
f
th
e
d
is
tr
ib
u
tio
n
d
ata
will
b
e
u
s
ed
as
tr
ain
in
g
d
ata
to
o
b
tain
r
ea
l
d
ata.
Dis
tr
ib
u
tio
n
d
ata
o
f
r
a
w
o
b
s
er
v
atio
n
s
o
n
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
as
s
h
o
wn
in
T
ab
le
3
.
T
ab
le
2
.
R
ec
ap
itu
latio
n
o
f
GPS o
b
s
er
v
atio
n
d
ata
ca
lcu
latio
n
r
esu
lts
Te
st
w
i
t
h
e
q
u
a
t
i
o
n
f
o
r
mu
l
a
s
G
P
S
-
1
G
P
S
-
2
G
P
S
-
3
Ea
st
i
n
g
N
o
r
t
h
i
n
g
Ea
st
i
n
g
N
o
r
t
h
i
n
g
Ea
st
i
n
g
N
o
r
t
h
i
n
g
M
e
a
n
(
X)
(
1
)
7
0
8
6
4
6
.
9
6
1
0
6
8
1
6
7
8
.
6
6
7
0
8
6
4
9
.
5
3
1
0
6
8
1
6
7
9
.
4
1
7
0
8
6
4
5
.
9
9
1
0
6
8
1
6
7
8
.
0
8
M
e
d
i
a
n
(
Me
)
(
2
)
7
0
8
6
4
6
.
8
8
1
0
6
8
1
6
7
8
.
8
0
7
0
8
6
4
9
.
4
6
1
0
6
8
1
6
7
9
.
6
4
7
0
8
6
4
6
.
0
3
1
0
6
8
1
6
7
8
.
1
0
M
o
d
u
s
(
M
o
)
(
3
)
7
0
8
6
4
6
.
5
8
1
0
6
8
1
6
7
8
.
4
4
7
0
8
6
4
9
.
5
8
1
0
6
8
1
6
7
9
.
3
0
7
0
8
6
4
5
.
9
9
1
0
6
8
1
6
7
7
.
8
8
S
t
a
n
d
a
r
d
D
e
v
i
a
t
i
o
n
(
S)
(
4
)
1
.
0
9
1
.
0
8
1
.
1
9
1
.
3
2
0
.
5
4
0
.
6
4
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
7
2
0
-
1
7
3
4
1728
T
ab
le
3
.
R
aw
d
is
tr
ib
u
tio
n
o
f
o
b
s
er
v
atio
n
s
f
r
o
m
GPS r
ec
eiv
er
s
No
D
a
t
e
C
l
o
c
k
G
P
S
-
AVG
G
P
S
TR
I
M
B
LE
-
8
Ea
st
i
n
g
N
o
r
t
h
i
n
g
Ea
st
i
n
g
N
o
r
t
h
i
n
g
1
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
0
7
0
8
6
4
7
.
6
6
6
1
0
6
8
1
6
7
8
.
1
2
7
7
0
8
6
4
7
.
2
8
8
1
0
6
8
1
6
7
9
.
0
0
9
2
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
1
7
0
8
6
4
7
.
6
6
6
1
0
6
8
1
6
7
8
.
1
4
6
7
0
8
6
4
7
.
2
8
8
1
0
6
8
1
6
7
9
.
0
0
9
3
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
2
7
0
8
6
4
7
.
6
8
5
1
0
6
8
1
6
7
8
.
1
0
9
7
0
8
6
4
7
.
2
8
8
1
0
6
8
1
6
7
9
.
0
0
9
4
0
5
/
1
1
/
2
0
2
3
1
0
:
2
9
:
0
3
7
0
8
6
4
7
.
6
8
5
1
0
6
8
1
6
7
8
.
0
9
1
7
0
8
6
4
7
.
2
8
8
1
0
6
8
1
6
7
9
.
0
0
9
5
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9
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th
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Deta
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T
r
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8
as sh
o
wn
in
Fig
u
r
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3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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T
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R
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r
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3
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6
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0
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2
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6
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0
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10
)
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