Position, Navigation, and Timing Technologies in the 21st Century

585 1702

586 1703

587 1704

588 1705

589 1706

590 1707

591 1708

592 1709

593 1711

594 1713

595 1714

596 1715

597 1716

598 1717

599 1718

600 1719

601 1720

602 1721

603 1722

604 1723

605 1724

606 1725

607 1726

608 1727

609 1728

610 1729

611 1730

612 1731

613 1732

614 1733

615 1735

616 1736

617 1737

618 1738

619 1739

620 1740

621 1741

622 1742

623 1743

624 1744

625 1745

626 1746

627 1747

628 1749

629 1750

630 1751

631 1752

632 1753

633 1754

634 1755

635 1756

636 1757

637 1758

638 1759

639 1760

640 1761

641 1762

642 1763

643 1764

644 1765

645 1766

646 1767

647 1768

648 1769

649 1770

650 1771

651 1772

652 1773

653 1774

654 1775

655 1776

656 1777

657 1778

658 1779

659 1780

660 1781

661 1782

662 1783

663 1784

664 1785

665 1786

666 1787

667 1788

668 1789

669 1790

670 1791

671 1792

672 1793

673 1794

674 1795

675 1796

676 1797

677 1798

678 1799

679 1800

680 1801

681 1802

682 1803

683 1804

684 1805

685 1806

686 1807

687 1808

688 1809

689 1811

690 1812

691 1813

692 1814

693 1815

694 1816

695 1817

696 1818

697 1819

698 1820

699 1821

700 1822

701 1823

702 1824

703 1825

704 1826

705 1827

706 1828

707 1829

708 1830

709 1831

710 1832

711 1833

712 1834

713 1835

714 1836

715 1837

716 1838

717 1839

718 1840

719 1841

720 1842

721 1843

722 1844

723 1845

724 1846

725 1847

726 1848

727 1849

728 1850

729 1851

730 1852

731 1853

732 1854

733 1855

734 1856

735 1857

736 1858

737 1859

738 1860

739 1861

740 1862

741 1863

742 1864

743 1865

744 1866

745 1867

746 1868

747 1869

748 1871

749 1872

750 1873

751 1874

752 1875

753 1876

754 1877

755 1878

756 1879

757 1880

758 1881

759 1882

760 1883

761 1884

762 1885

763 1886

764 1887

765 1888

766 1889

767 1890

768 1891

769 1893

770 1894

771 1895

772 1896

773 1897

774 1898

775 1899

776 1900

777 1901

778 1902

779 1903

780 1904

781 1905

782 1906

783 1907

784 1908

785 1909

786 1910

787 1911

788 1912

789 1913

790 1914

791 1915

792 1916

793 1917

794 1918

795 1919

796 1921

797 1922

798 1923

799 1924

800 1925

801 1926

802 1927

803 1928

804 1929

805 1930

806 1931

807 1932

808 1933

809 1934

810 1935

811 1936

812 1937

813 1938

814 1939

815 1940

816 1941

817 1942

818 1943

819 1944

820 1945

821 1946

822 1947

823 1948

824 1949

825 1950

826 1951

827 1952

828 1953

829 1954

830 1955

831 1956

832 1957

833 1958

834 1959

835 1960

836 1961

837 1962

838 1963

839 1964

840 1965

841 1966

842 1967

843 1968

844 1969

845 1970

846 1971

847 1972

848 1973

849 1974

850 1975

851 1976

852 1977

853 I1

854 I2

855 I3

856 I4

857 I5

858 I6

859 I7

860 I8

861 I9

862 I10

863 I11

864 I12

865 I13

866 I14

867 1978

IEEE Press445 Hoes Lane Piscataway, NJ 08854

IEEE Press Editorial BoardEkram Hossain, Editor in Chief

Volume 2

Edited by

Y. T. Jade Morton, University of Colorado BoulderFrank van Diggelen, GoogleJames J. Spilker, Jr., Stanford UniversityBradford W. Parkinson, Stanford University

Associate Editors: Sherman Lo, Stanford University Grace Gao, Stanford University

Copyright © 2021 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved.

Published by John Wiley & Sons, Inc., Hoboken, New Jersey.

Published simultaneously in Canada.

No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per‐copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750‐8400, fax (978) 750‐4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748‐6011, fax (201) 748‐6008, or online at http://www.wiley.com/go/permissions.

Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages.

For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762‐2974, outside the United States at (317) 572‐3993 or fax (317) 572‐4002.

Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com.

Library of Congress Cataloging‐in‐Publication Data is available.

ISBN: 9781119458340 Cloth

Cover Design: Wiley

Cover Images: Global telecommunication network

© NicoElNino/Getty Images, GPS Satellite

© BlackJack3D/iStockphoto

In Memory of:Ronald L. BeardPer EngeRonald HatchDavid LastJames J. Spilker, Jr.James B. Y. Tsui