Extension of GPS Broadcast Ephemeris to Determine Satellite Velocity and Acceleration

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This paper presents an expansion of the algorithm provided in the GPS ICD to include the precise real-time computation in ECEF coordinate of the velocity and acceleration components of the satellite orbit besides the position components using the broadcast ephemeris. Precise satellite velocity and acceleration data are needed for applications using precise receiver Doppler measurements, such as GPS/INS integration. The expansion proposed in this paper improves the observed performance of an alternative derivation recently published.