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Figure 81: L1 C/A position estimate results Left- Plot of the point position estimation error versus time The top curve is north error The middle curve is east error The bottom curve is down error Right- Scatter plot of the north and east estimation error from the estimated position so that the plots illustrate the estimation error The same set of satellites (ie, PRNS: 2, 4, 9, 12, 17, and 28) was used for the duration of the experiment This gure illustrates the character of the positioning accuracy achievable by SPS GPS First, note that the estimate of d is signi cantly noisier than the estimates of n and e Also notice that the position estimation error has signi cant time correlation This is due to the fact that various of the error sources (SV clock and ephemeris error, ionospheric error, and tropospheric error) are slowly time varying This fact is used advantageously in di erential GPS systems as discussed in Section 88 The sources and magni cation of these errors are discussed in the Sections 84 and 85 Third, due to the fact that the error sources are time-correlated over the period of the experiment shown in Figure 81, the scatter plot does not have the characteristics ellipsoidal shape discussed in Section 4912

album The album object represents an album in an iPhoto library photo The photo object represents a photo keyword The keyword class represents a keyword you can associate with photos

x = ( ) (815)

iPhoto uses the album object to represent an album any kind of album Table 12-3 explains the properties of the album object album Object Property

is related to the estimation error according to = H x + (816)

The album s name An integer giving the album s unique ID within iPhoto This property is read-only A list of the albums that this album contains The name of the parent album that contains this album The album type (see Table 12-4) This property is read-only If you ve published the album, or if you ve subscribed to it, the URL on which the album is shared

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where x is de ned in eqn (814) and is de ned in eqn (87) Up to this point, the reference frame for H and x has not been directly discussed

Clarifying this issue is one of the objectives of this section Another objective is the de nition, computation, and graphical illustration of satellite elevation and azimuth The satellite position computed from ephemeris data, see Section C2, is in the ECEF frame at the time of transmission Since the time of transmission for each satellite is distinct, the satellite positions for di erent satellites are in di erent reference frames and must be transformed to a consistent frame-of-reference, as discussed in Section C3 Assuming that the satellite positions are each transformed to the ECEF frame at the time of reception, eqn (816) relates the residual measurement to the position error in the ECEF frame at the time of reception To be explicit in representation of the reference frame, eqn (816) is rewritten as = He xe + (817)

As you can see, the properties are pretty straightforward, except for the type property, which Table 12-4 explains

It is straightforward to transform this equation to any other frame-ofreference For frame a, = = where Ha = He Re and a Ra = e Re a 01 3 03 1 1 He Re Ra xe + a e a a H x +

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