... Promenade, SW, Washington, DC, 19 96. Fundamentals of Global Positioning System Receivers: A Software Approach James Bao-Yen TsuiCopyright 2000 John Wiley & Sons, Inc.Print ISBN 0-4 7 1- 3 815 4-3 ... performance,” Chapter 3 inParkinson, B. W., Spilker, J. J. Jr., Global Positioning System: Theory and Appli-cations, vols. 1 and 2, American Institute of Aeronautics and Astronautics, 370L’Enfant ... coordinateto another one, but the transform can be achieved in a step-by-step manner. Forexample, if the transform is to rotate angle a around the z-axis and rotate angleb around the y-axis,...