... 1996. Fundamentals of Global Positioning System Receivers: A Software Approach James Bao-Yen TsuiCopyright 20 00 John Wiley & Sons, Inc.Print ISBN 0-4 7 1-3 815 4-3 Electronic ISBN 0-4 7 1 -2 005 4-9 54 CHAPTER ... 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, ... 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 Promenade, SW, Washington,...