Source: https://www.cambridge.org/core/services/aop-cambridge-core/content/view/4DFA107598E2D614B3BD20003D35B95B/S0001924019000988a.pdf/understanding-gpsgnss-principles-and-applications-third-edition-edited-by-e-d-kaplan-and-c-j-hegarty-artech-house-16-sussex-street-london-sw1v-4rw-uk-2017-xxi-993pp-illustrated-pound155-isbn-978-1-630.pdf