Computing Dilution of Precision (DOP) For 4 or More Satellites
For each satellite n define:
a n,1 = sin az cos el
an,2 = cos az cos el
a n,3 = sin el
Where:
el =Local elevation angle, and az = Local azimuth angle (from North)
Next, form the line-of-sight matrix A for all satellites used in the solution:
Next, compute the covariance matrix:
