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Receiver clock bias is a time varying error that a ects all simultaneous range measurements in the same fashion Therefore, if at least four simultaneous satellite range measurements are available (one more than would be necessary to determine position based on true ranges), the clock bias and position can both be estimated For this reason, clock bias error is not included in the position error budget discussed relative to Table 85 Di erent GPS receivers handle the receiver clock error in di erent ways, but there are two basic approaches In the one approach, the receiver clock error is allowed to accumulate In the other approach, the receiver clock error is estimated and steered towards zero A user working with raw observables should know which approach is being used to ensure that the clock bias is addressed appropriately Figure 83 shows a sequence of estimates of the receiver clock bias



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c r (t) This gure is included to illustrate a few features of the clock bias First, the clock bias is ramp-like with stable slope (clock drift rate) This fact is in accord with eqn (841) and demonstrates that while the oscillator frequency fc (t) does not equal the nominal frequency fo the frequency o set f (t) is stable Second, the gure clearly shows that the estimated clock bias resembles a sawtooth signal with large, xed magnitude discontinuities The discontinuity in the clock bias has magnitude approximately equal to 10 10 3 s or 0001c = 299, 792m This is an artifact of the receiver processing, not the clock itself The discontinuities are irrelevant as long as the user accommodates them appropriately The receiver clock bias can be handled by at least three methods In the rst approach, the clock bias is estimated independently at each time step without trying to incorporate information from prior measurement epoches That is the approach discussed in Section 822 and illustrated in Figure 83 A second approach is to subtract the measurement of one satellite from all the other satellites to cancel the clock bias This single di erence approach is discussed in Section 8431 The third approach involves developing a dynamic model for the change in the clock bias and estimating the clock model state via Kalman ltering This third approach is presented Section 8432 8431 Single Di erences Across Satellites





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6 2 1 5 6

Unit Mill USD 100 Value Axis (Y)

This section discusses single di erencing using the pseudorange observable The same technique with appropriate modi cations can be used for the Doppler and integer-resolved carrier phase measurements For simultaneous measurements from the same receiver, each pseudorange can be modeled as i r = R(p, pi ) + c tr + i (845)

(a) What is the cost of its minimum spanning tree (b) How many minimum spanning trees does it have (c) Suppose Kruskal s algorithm is run on this graph In what order are the edges added to the MST For each edge in this sequence, give a cut that justi es its addition 52 Suppose we want to nd the minimum spanning tree of the following graph

Category Axis (X)

2 where = var( i ) and time arguments have been dropped to simplify notation; however, it is critical to note that the receiver clock bias c tr (t) is the same for all satellites Consider a set of measurements from m satellites Subtracting the m from each of the other measurements yields the new r observable r r (846) i,m = i m

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(a) Run Prim s algorithm; whenever there is a choice of nodes, always use alphabetic ordering (eg, start from node A) Draw a table showing the intermediate values of the cost array (b) Run Kruskal s algorithm on the same graph Show how the disjoint-sets data structure looks at every intermediate stage (including the structure of the directed trees), assuming path compression is used 53 Design a linear-time algorithm for the following task Input: A connected, undirected graph G Question: Is there an edge you can remove from G while still leaving G connected 54 Show that if an undirected graph with n vertices has k connected components, then it has at least n k edges Can you reduce the running time of your algorithm to O(|V |)

To start the process of editing the chart in the WAD, either create a new Web item of the type Chart or select an existing Web item of the type Chart Then, on the Web Item Parameters tab of the Properties screen area, under Internal Display, click the button for the Edit Chart property to access the Edit Chart dialog box (or Chart Designer), shown in the following illustration

that is modeled as i,m (p) = R(p, pi ) R(p, pm ) + i,m (847)

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