Weighted Geometric Dilution of Precision (GDOP) Calculator
Accurately assess positioning accuracy by calculating weighted GDOP.
GDOP Calculator
Calculation Results
Weighted Geometric Dilution of Precision (GDOP)
—Total Error Standard Deviation (σ_total)
—Positional Dilution of Precision (PDOP)
—Horizontal Dilution of Precision (HDOP)
—Vertical Dilution of Precision (VDOP)
—Time Dilution of Precision (TDOP)
—Formula Used
The calculation of GDOP involves understanding the geometry of the satellites relative to the receiver. A simplified representation for weighted GDOP, considering total error, is derived from the concept that the total error is a combination of satellite errors and receiver noise, weighted by their statistical independence. For this calculator, we're focusing on a practical interpretation of GDOP related to the combined effect of satellite geometry and signal errors on the position fix. The core idea is that poorer satellite geometry (larger GDOP) amplifies both satellite errors and receiver noise.
Weighted GDOP Approximation: The term "weighted" here implies that we consider the variance of the combined error sources. The total variance of the position error is often approximated as: $ \sigma_{total}^2 \approx GDOP^2 \cdot (\sigma_{s}^2 + \sigma_{r}^2) $ Rearranging to find GDOP: $ GDOP = \frac{\sigma_{total}}{\sqrt{\sigma_{s}^2 + \sigma_{r}^2}} $ In this calculator, we are calculating the GDOP value based on this relationship, where $\sigma_{total}$ is the overall positional accuracy achieved, $\sigma_{s}$ is the average satellite error standard deviation, and $\sigma_{r}$ is the receiver noise standard deviation. We also calculate the individual DOP components (PDOP, HDOP, VDOP, TDOP) by relating them to GDOP. A common simplification assumes: $ GDOP \approx \sqrt{PDOP^2 + HDOP^2 + VDOP^2 + TDOP^2} $ However, for this tool, we'll derive PDOP, HDOP, VDOP, and TDOP based on their relationship to the total error and the number of satellites used, and then estimate GDOP. A practical approach for this calculator: 1. Calculate a base 'geometric factor' (related to satellite geometry). 2. Use this factor to scale the combined satellite and receiver noise variance. 3. Derive individual DOPs and GDOP. Let's use a simplified model where PDOP is often the dominant factor. We'll assume a relationship where the total error standard deviation ($\sigma_{total}$) is related to the GDOP and the average error ($\sigma_{avg} = \sqrt{\sigma_{s}^2 + \sigma_{r}^2}$). $ \sigma_{total} = GDOP \times \sigma_{avg} $ We are given $\sigma_s$ and $\sigma_r$, so $\sigma_{avg} = \sqrt{\sigma_s^2 + \sigma_r^2}$. To calculate GDOP, we need a measure of the total achieved error, or a way to estimate it from satellite geometry and the number of satellites. A common approximation relates the number of satellites ($n$) to the effective degrees of freedom. For this calculator's simplified output, we will calculate $\sigma_{total}$ first: $ \sigma_{total} = \sqrt{\sigma_{s}^2 + \sigma_{r}^2} \times \frac{N}{\sqrt{n}} $ (This is a heuristic, not a strict formula for GDOP itself, but reflects that fewer satellites degrade accuracy) Then, we can estimate GDOP: $ GDOP_{estimated} = \frac{\sigma_{total}}{\sqrt{\sigma_{s}^2 + \sigma_{r}^2}} = \frac{N}{\sqrt{n}} $ This simplified approach yields a GDOP directly related to satellite count. Let's refine this: The calculation of actual PDOP, HDOP, etc., requires covariance matrices derived from satellite positions. This calculator will provide a **simplified, illustrative GDOP value based primarily on the number of satellites used relative to the total visible, and the general error components.** A more direct representation for this calculator's output: Effective Error Standard Deviation ($\sigma_{eff}$): $ \sigma_{eff} = \sqrt{\sigma_{s}^2 + \sigma_{r}^2} $ Simplified GDOP (Geometric Factor): $ GDOP_{calc} = \frac{N}{\sqrt{n}} $ (This serves as a proxy for geometric dilution) Estimated Total Error Standard Deviation ($\sigma_{total\_est}$): $ \sigma_{total\_est} = GDOP_{calc} \times \sigma_{eff} $ For PDOP, HDOP, VDOP, TDOP, a direct calculation requires more geometric data. We will present a common relative interpretation: Lower numbers mean better accuracy. PDOP is usually dominant, then HDOP, VDOP, and TDOP. We will assume a typical breakdown where PDOP is the largest contributor to GDOP. Let's assign hypothetical values for illustration, assuming PDOP is the main driver: PDOP ≈ GDOP_calc * 0.8 HDOP ≈ GDOP_calc * 0.4 VDOP ≈ GDOP_calc * 0.4 TDOP ≈ GDOP_calc * 0.2 (These are illustrative ratios, actual values depend on satellite constellation geometry). $GDOP = \sqrt{PDOP^2 + HDOP^2 + VDOP^2 + TDOP^2}$ (This is a theoretical relationship, we will use our calculated PDOP, HDOP, VDOP, TDOP to show a consolidated GDOP.)
| GDOP Value | Interpretation (General Accuracy) | Typical Application |
|---|---|---|
| 1 – 2 | Excellent | High-precision surveying, geodesy |
| 2 – 4 | Good | Mapping, precision agriculture |
| 4 – 6 | Moderate | General navigation, asset tracking |
| 6 – 8 | Fair | Recreational navigation, basic tracking |
| 8+ | Poor | Unreliable positioning, may require more satellites or better geometry |
What is Weighted Geometric Dilution of Precision?
Weighted Geometric Dilution of Precision (GDOP) is a critical metric used in satellite navigation systems, most notably GPS, to quantify the error introduced by the geometric arrangement of the satellites in the sky relative to the receiver on the ground. In essence, GDOP tells you how much the satellite geometry can amplify the inherent errors in the system. A low GDOP indicates that the satellites are well-positioned in the sky, leading to higher accuracy, while a high GDOP suggests that the satellite configuration is poor, magnifying errors and reducing positional precision. The "weighted" aspect implies that different error sources (like satellite clock errors, ephemeris errors, ionospheric delays, and receiver noise) are accounted for, often with varying degrees of certainty or importance.
Who Should Use It? Anyone relying on precise positioning data can benefit from understanding GDOP. This includes:
- Surveyors and Geodesists: Requiring centimeter-level accuracy for mapping and land management.
- Engineers: Working on infrastructure projects, tunnel navigation, or precision agriculture.
- Autonomous Vehicle Developers: Needing reliable and accurate location data for navigation and control.
- Aviation and Maritime Navigation Specialists: Ensuring safe travel through precise real-time positioning.
- Scientific Researchers: Using GPS data for tracking wildlife, monitoring tectonic plate movement, or atmospheric studies.
- Advanced Amateur Users: Such as drone pilots or off-road navigators seeking the best possible accuracy.
Common Misconceptions:
- GDOP is the only source of error: GDOP quantifies geometric error amplification, but other factors like atmospheric conditions, satellite clock/orbit errors, and receiver noise are also significant.
- More satellites always mean better GDOP: While using more satellites is generally beneficial, their specific positions matter more. Four satellites are the minimum for a 3D fix, but if those four are clustered together, GDOP can be very high. A constellation of five or more satellites spread across the sky is usually much better.
- GDOP directly gives position error: GDOP is a multiplier. The actual position error is GDOP multiplied by the effective standard deviation of the combined un-geometric errors ($\sigma_{total} = GDOP \times \sigma_{eff}$).
Weighted Geometric Dilution of Precision (GDOP) Formula and Mathematical Explanation
The calculation of GDOP is rooted in the principles of error propagation in least-squares estimation, commonly used in satellite navigation. When a receiver calculates its position, it effectively solves a system of equations based on pseudoranges (distance estimates) from multiple satellites. The accuracy of this solution depends heavily on the geometry of these satellites.
Consider the position and time solution as a vector $ \mathbf{x} = [x, y, z, t]^T $. The measurement model relates the pseudorange $ p_i $ from satellite $ i $ to the receiver's position $ (x, y, z) $ and clock offset $ t $: $ p_i = \sqrt{(x_i – x)^2 + (y_i – y)^2 + (z_i – z)^2} + c \cdot (T – T_i) + \epsilon_i $ where $ (x_i, y_i, z_i) $ are satellite coordinates, $ c $ is the speed of light, $ T $ is receiver clock time, $ T_i $ is satellite clock time, and $ \epsilon_i $ is the total measurement error for satellite $ i $. Linearizing this equation around an initial estimate $ \mathbf{x}_0 $: $ \Delta p_i \approx \mathbf{h}_i^T \Delta \mathbf{x} + \epsilon_i $ where $ \Delta p_i $ is the difference between the measured pseudorange and the calculated range, $ \mathbf{h}_i $ is a unit vector pointing from the receiver to the satellite (including the time component), and $ \Delta \mathbf{x} $ is the correction to the position and time estimate.
Stacking these equations for $ n $ satellites results in: $ \Delta \mathbf{p} = H \Delta \mathbf{x} + \boldsymbol{\epsilon} $ Here, $ H $ is the design matrix, $ \Delta \mathbf{p} $ is the vector of pseudorange differences, and $ \boldsymbol{\epsilon} $ is the vector of measurement errors. The least-squares solution for $ \Delta \mathbf{x} $ is: $ \Delta \mathbf{x} = (H^T W H)^{-1} H^T W \Delta \mathbf{p} $ where $ W $ is a weighting matrix, typically diagonal, accounting for the variance (or inverse variance) of each measurement. For unweighted least squares, $ W = I $. For weighted least squares, $ W = \text{diag}(w_1, w_2, \dots, w_n) $.
The covariance matrix of the estimated state $ \Delta \mathbf{x} $ is given by: $ \Sigma_{\mathbf{x}} = (H^T W H)^{-1} $ (assuming measurement errors are uncorrelated and $ W $ represents inverse variances).
The Geometric Dilution of Precision (GDOP) is derived from this covariance matrix. Specifically, GDOP is related to the trace of the matrix $ (H^T H)^{-1} $ for unweighted cases. For weighted cases, it's derived from $ (H^T W H)^{-1} $. A common definition relates GDOP to the square root of the sum of the diagonal elements of the covariance matrix of the position and time components: $ GDOP = \sqrt{\Sigma_{xx} + \Sigma_{yy} + \Sigma_{zz} + \Sigma_{tt}} $ where $ \Sigma_{qq} $ are the diagonal elements of $ \Sigma_{\mathbf{x}} $ corresponding to position coordinates $ x, y, z $ and time $ t $.
Different DOPs are derived from subsets of these diagonal elements:
- PDOP (Positional DOP): $ \sqrt{\Sigma_{xx} + \Sigma_{yy} + \Sigma_{zz}} $ (Affects 3D position)
- HDOP (Horizontal DOP): $ \sqrt{\Sigma_{xx} + \Sigma_{yy}} $ (Affects 2D horizontal position)
- VDOP (Vertical DOP): $ \sqrt{\Sigma_{zz}} $ (Affects altitude)
- TDOP (Time DOP): $ \sqrt{\Sigma_{tt}} $ (Affects time synchronization)
In practice, calculating GDOP precisely requires knowledge of the precise satellite positions and the receiver's position for the linearization step, which is not available in a simple calculator. Therefore, our calculator uses a simplified model that captures the essence of geometric dilution based on the number of satellites and general error sources.
Variables Table
| Variable | Meaning | Unit | Typical Range |
|---|---|---|---|
| N | Number of Satellites Visible | Count | 4 – 32+ |
| n | Number of Satellites Used | Count | 4 – 32+ |
| $ \sigma_r $ | Receiver Noise Standard Deviation | Meters | 0.1 – 5.0 |
| $ \sigma_s $ | Satellite Error Standard Deviation | Meters | 1.0 – 10.0 |
| GDOP | Geometric Dilution of Precision | Unitless Ratio | 1.0 – 10.0+ |
| PDOP | Positional Dilution of Precision | Unitless Ratio | 1.0 – 10.0+ |
| HDOP | Horizontal Dilution of Precision | Unitless Ratio | 1.0 – 10.0+ |
| VDOP | Vertical Dilution of Precision | Unitless Ratio | 1.0 – 10.0+ |
| TDOP | Time Dilution of Precision | Unitless Ratio | 0.5 – 5.0+ |
| $ \sigma_{total\_est} $ | Estimated Total Position Error Standard Deviation | Meters | 1.0 – 50.0+ |
Practical Examples (Real-World Use Cases)
Example 1: Precision Surveying Under Good Conditions
A surveying team is conducting high-precision mapping in an open field. They have a clear view of the sky.
- Inputs:
- Number of Satellites Visible (N): 12
- Number of Satellites Used (n): 8
- Receiver Noise Standard Deviation ($ \sigma_r $): 0.3 meters
- Satellite Error Standard Deviation ($ \sigma_s $): 1.5 meters
Using the calculator with these inputs:
- Estimated Total Error Standard Deviation ($ \sigma_{eff} $): $ \sqrt{1.5^2 + 0.3^2} = \sqrt{2.25 + 0.09} = \sqrt{2.34} \approx 1.53 $ meters
- Simplified GDOP (Geometric Factor): $ \frac{12}{\sqrt{8}} \approx \frac{12}{2.83} \approx 4.24 $
- Estimated Total Error Standard Deviation ($ \sigma_{total\_est} $): $ 4.24 \times 1.53 \approx 6.49 $ meters (This represents the amplification factor)
- Illustrative PDOP: $ 4.24 \times 0.8 = 3.39 $
- Illustrative HDOP: $ 4.24 \times 0.4 = 1.70 $
- Illustrative VDOP: $ 4.24 \times 0.4 = 1.70 $
- Illustrative TDOP: $ 4.24 \times 0.2 = 0.85 $
- Recalculated GDOP: $ \sqrt{3.39^2 + 1.70^2 + 1.70^2 + 0.85^2} = \sqrt{11.49 + 2.89 + 2.89 + 0.72} = \sqrt{18.00} \approx 4.24 $ (Matches simplified GDOP)
Financial Interpretation: With 8 satellites used out of 12 visible, the geometry is moderately good (GDOP ~4.24). The effective error is around 1.53 meters. The GDOP suggests this error could be amplified. However, the individual DOPs indicate that HDOP and VDOP are relatively low (1.70), which is excellent for horizontal accuracy. This scenario provides good, reliable positioning suitable for many mapping applications, though perhaps not for the absolute highest precision surveying without RTK corrections. The cost of potential positional inaccuracy needs to be weighed against the benefit of using fewer satellites for quicker fixes.
Example 2: Navigation in an Urban Canyon
A vehicle is navigating through a dense city with tall buildings. Satellite visibility is limited and often obscured.
- Inputs:
- Number of Satellites Visible (N): 6
- Number of Satellites Used (n): 4
- Receiver Noise Standard Deviation ($ \sigma_r $): 1.0 meters
- Satellite Error Standard Deviation ($ \sigma_s $): 3.0 meters
Using the calculator with these inputs:
- Estimated Total Error Standard Deviation ($ \sigma_{eff} $): $ \sqrt{3.0^2 + 1.0^2} = \sqrt{9.0 + 1.0} = \sqrt{10.0} \approx 3.16 $ meters
- Simplified GDOP (Geometric Factor): $ \frac{6}{\sqrt{4}} = \frac{6}{2} = 3.0 $
- Estimated Total Error Standard Deviation ($ \sigma_{total\_est} $): $ 3.0 \times 3.16 \approx 9.48 $ meters
- Illustrative PDOP: $ 3.0 \times 0.8 = 2.4 $
- Illustrative HDOP: $ 3.0 \times 0.4 = 1.2 $
- Illustrative VDOP: $ 3.0 \times 0.4 = 1.2 $
- Illustrative TDOP: $ 3.0 \times 0.2 = 0.6 $
- Recalculated GDOP: $ \sqrt{2.4^2 + 1.2^2 + 1.2^2 + 0.6^2} = \sqrt{5.76 + 1.44 + 1.44 + 0.36} = \sqrt{9.00} = 3.0 $ (Matches simplified GDOP)
Financial Interpretation: In this urban environment, only 4 satellites are available for use, resulting in a GDOP of 3.0. While this is not excessively high, the effective error ($ \sigma_{eff} $) is larger due to higher satellite and receiver noise. The total estimated error can be up to ~9.5 meters. The HDOP (1.2) is excellent, indicating good horizontal accuracy despite the overall GDOP. This scenario might be acceptable for general navigation where precise lane positioning isn't critical, but it might not be sufficient for safety-critical applications like autonomous driving without supplementary sensors (e.g., Lidar, Radar) or advanced mapping techniques. The cost implications involve potential deviations from intended routes or incorrect location logging. For applications requiring higher precision, alternative or supplementary positioning technologies would be necessary. Investing in receivers capable of multi-constellation GNSS (GPS, GLONASS, Galileo, BeiDou) can significantly improve satellite visibility and geometry in such challenging environments.
How to Use This Weighted GDOP Calculator
This calculator helps you understand how satellite geometry and inherent system errors affect positioning accuracy. Follow these steps:
-
Input Satellite Data:
- Number of Satellites Visible (N): Enter the total count of satellites your GNSS receiver can currently detect.
- Number of Satellites Used (n): Enter the number of satellites the receiver is actually using to calculate the position fix. This is often 4 or more.
-
Input Error Data:
- Receiver Noise Standard Deviation ($ \sigma_r $): Input the estimated standard deviation of noise introduced by your GNSS receiver. This is typically a small value. Consult your receiver's specifications if unsure.
- Satellite Error Standard Deviation ($ \sigma_s $): Input the average standard deviation of errors associated with the satellite signals themselves (e.g., ephemeris, clock errors). This can vary based on the GNSS system and current conditions.
- Calculate: Click the "Calculate GDOP" button. The calculator will update dynamically.
-
Interpret Results:
- Weighted GDOP: This is the primary indicator of geometric dilution. Lower is better. Use the table provided to gauge general accuracy (Excellent, Good, Moderate, Fair, Poor).
- Estimated Total Error Standard Deviation ($ \sigma_{total\_est} $): This value represents the expected standard deviation of your position error, considering both the satellite geometry (GDOP) and the inherent system errors ($ \sigma_s, \sigma_r $).
- PDOP, HDOP, VDOP, TDOP: These provide a breakdown of how the geometric dilution affects position (3D), horizontal position (2D), altitude, and time synchronization, respectively. Lower values for each indicate better accuracy in that specific dimension.
- Make Decisions: Use the GDOP and associated values to determine if the current positioning accuracy is sufficient for your application. For instance, if GDOP is high and HDOP is poor, you might need to wait for better satellite geometry, move to a more open location, or consider using supplementary sensors.
- Reset/Copy: Use the "Reset" button to clear inputs and return to default values. Use "Copy Results" to save the computed values for reporting or further analysis.
Key Factors That Affect GDOP Results
Several factors significantly influence the calculated GDOP and, consequently, the overall positioning accuracy. Understanding these factors is crucial for interpreting results and improving GNSS performance:
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Satellite Geometry (The Core of GDOP):
The spatial arrangement of the satellites relative to the receiver is paramount. When satellites are widely spread across the sky, they form distinct geometric shapes (e.g., a tetrahedron) with the receiver, leading to low GDOP. Conversely, if satellites are clustered in one part of the sky (e.g., all low on the horizon, or all directly overhead), the geometry is poor, and GDOP increases significantly. This is the primary driver of geometric error amplification.
-
Number of Satellites Used (n):
Using more satellites generally improves the solution's robustness and can lead to better geometry. The minimum required for a 3D fix is four. However, the quality of the fix doesn't solely depend on the count; the geometry formed by those satellites is more critical. Using 8 satellites spread widely is better than using 6 clustered satellites. More satellites also provide redundancy, allowing the system to detect and mitigate faulty measurements.
-
Number of Satellites Visible (N):
This indicates the potential availability of satellites. A higher N means more options for the receiver to select the best geometric configuration, especially in challenging environments like urban canyons or under foliage where signals are frequently blocked. It represents the 'pool' of satellites available to form the optimal subset used (n).
-
Satellite Error Standard Deviation ($ \sigma_s $):
These are inherent errors in the satellite system itself, including:
- Ephemeris Errors: Inaccuracies in the broadcast orbital data of the satellites.
- Clock Errors: Deviations in the atomic clocks on board the satellites from precise time.
- Signal Integrity: Potential for intentional or unintentional signal degradation.
-
Receiver Noise Standard Deviation ($ \sigma_r $):
This accounts for errors introduced by the receiver hardware and processing. It includes factors like thermal noise in the electronics, interference from other radio sources, multipath effects (signals bouncing off buildings or terrain before reaching the antenna), and quantization errors. Better quality receivers generally have lower $ \sigma_r $. Higher $ \sigma_r $ also contributes to the total error amplified by GDOP.
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Atmospheric Delays (Ionosphere and Troposphere):
Satellite signals travel through the Earth's ionosphere and troposphere, causing delays. These delays are frequency-dependent (ionosphere) and vary with weather conditions (troposphere). While not directly part of the GDOP calculation (which focuses on geometry), these atmospheric effects are a major component of the total measurement error ($ \epsilon_i $). Receivers often use models or dual-frequency measurements to mitigate these delays. Uncorrected or poorly modeled atmospheric delays increase the effective $ \sigma_s $ or contribute directly to the total error, thus impacting the final position accuracy that GDOP magnifies.
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Multipath Effects:
When a GNSS signal bounces off reflective surfaces (like buildings, water, or the ground) before reaching the receiver antenna, it arrives with a slight delay and altered phase. This creates a form of interference that significantly degrades the accuracy of the pseudorange measurement. Multipath is a major contributor to receiver noise ($ \sigma_r $) and is particularly problematic in urban canyons, mountainous terrain, and near large reflective objects. Good antenna design and sophisticated receiver algorithms can help mitigate multipath.
Frequently Asked Questions (FAQ)
GDOP is a general term. DOP is an acronym for Dilution of Precision. Specifically, PDOP (Positional), HDOP (Horizontal), VDOP (Vertical), and TDOP (Time) are components that make up the overall GDOP. Sometimes, GDOP is used interchangeably with PDOP, but technically, GDOP is the root sum of squares of all DOP components ($ GDOP = \sqrt{PDOP^2 + TDOP^2} $, and $ PDOP = \sqrt{HDOP^2 + VDOP^2} $). Our calculator provides both the individual DOPs and a consolidated GDOP.
You can improve GDOP by:
- Moving to a location with a clearer view of the sky to see more satellites (increasing N).
- Ensuring your receiver is configured to use the maximum number of available satellites (increasing n).
- Using a GNSS receiver capable of tracking multiple constellations (GPS, GLONASS, Galileo, BeiDou), as this increases the pool of satellites (N) and often provides better geometric distribution.
- Minimizing obstructions and multipath sources around your receiver.
No, GDOP is not accuracy itself but a measure of how satellite geometry affects accuracy. It's a multiplier. The actual position error is the product of GDOP and the standard deviation of the un-geometric errors (like satellite clock/orbit errors and receiver noise). Low GDOP amplifies small errors less, leading to higher accuracy.
Generally, GDOP values below 2 are considered excellent. Values between 2 and 4 are good, 4 to 6 are moderate, and above 6-8 are considered poor for most applications. The acceptable GDOP depends heavily on the specific requirements of the task. High-precision surveying might require GDOP < 2, while casual navigation might tolerate GDOP < 6.
A receiver can see many satellites (N), but it might only use a subset (n) for calculating the position fix. This selection is often based on criteria like signal strength, elevation angle, and optimizing satellite geometry to achieve the lowest possible GDOP. The receiver's algorithm chooses the 'best' n satellites from the N available.
Atmospheric delays (ionospheric and tropospheric) are significant sources of measurement error. While GDOP quantifies geometric amplification, these delays are part of the error budget that GDOP multiplies. Better atmospheric correction models or dual-frequency receivers reduce the impact of these delays, thus lowering the effective 'un-geometric' error that GDOP then affects.
Yes, the principles of GDOP apply to all Global Navigation Satellite Systems (GNSS). The inputs (number of satellites, error standard deviations) are general enough. However, the typical ranges for $ \sigma_s $ might vary slightly between systems. This calculator provides a simplified model, so for highly specialized applications, consult system-specific documentation.
With only 3 satellites, a 3D position fix (requiring 4 unknowns: x, y, z, t) is generally not possible without additional information or assumptions. You can get a 2D fix (x, y) if you know your altitude (z) or time (t) precisely, or if the receiver assumes a fixed altitude. However, calculations involving GDOP typically assume at least 4 satellites are used for a full 3D solution. Our calculator requires at least 4 satellites used for a meaningful GDOP calculation related to 3D positioning. If you input fewer than 4 satellites used, the results might be extrapolated or indicate an inability to calculate a full solution.