In Chapter 3 the motion of the satellite is briefly discussed. The true anomaly is obtained from the mean anomaly, which is transmitted in the navigation data of the satellite. In all discussions, the center of the earth is used as a reference. In order to find a user position on the surface of the earth, these data must be related to a certain point on or above the surface of the earth. The
... [Show full abstract] earth is constantly rotating. In order to reference the satellite position to a certain point on or above the surface of the earth, the rotation of the earth must be taken into consideration. This is the goal of this chapter. The basic approach is to introduce a scheme to transform the coordinate systems. Through coordinate system transform, the reference point can be moved to the desired coordinate system. First the direction cosine matrix, which is used to transform from one coordinate system to a different one, will be introduced. Then various coordinate systems will be introduced. The final transform will put the satellite in the earth-centered, earth-fixed (ECEF) system. Finally, some perturbations will be discussed. In order to perform the transforms, besides the eccentricity and mean anomaly, additional data are obtained from the satellite. They are the semi-major of the orbit, the right ascension angle, the inclination angle, and the argument of the perigee. Their definitions are presented in this chapter.