% Data for GPS problem part a
m = 5; %number of satellites
N = 10; %number of time steps
T = 720; %lenght of the time step
c = 300000000; %speed of light
sigmatau = 1.000000e-04; % standard deviation of tau 
sigmav = 10; %standard deviation of v
sigmax = 10000; % standard deviation of x
sat_pos_1=[1.187e+07 9.742e+06 7.613e+06 5.483e+06 3.354e+06 1.225e+06 -9.04e+05 -3.033e+06 -5.162e+06 -7.291e+06;2.058e+07 1.876e+07 1.694e+07 1.513e+07 1.331e+07 1.149e+07 9.671e+06 7.852e+06 6.034e+06 4.215e+06;2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07]; 
sat_pos_2=[-2.586e+07 -2.371e+07 -2.157e+07 -1.942e+07 -1.728e+07 -1.513e+07 -1.299e+07 -1.084e+07 -8.696e+06 -6.551e+06;-7.74e+07 -7.92e+07 -8.1e+07 -8.28e+07 -8.46e+07 -8.64e+07 -8.82e+07 -9e+07 -9.18e+07 -9.36e+07;2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07]; 
sat_pos_3=[-7.433e+07 -7.306e+07 -7.179e+07 -7.052e+07 -6.924e+07 -6.797e+07 -6.67e+07 -6.543e+07 -6.416e+07 -6.289e+07;-2.831e+07 -2.581e+07 -2.332e+07 -2.082e+07 -1.833e+07 -1.583e+07 -1.334e+07 -1.084e+07 -8.347e+06 -5.852e+06;2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07]; 
sat_pos_4=[5.331e+07 5.062e+07 4.793e+07 4.524e+07 4.256e+07 3.987e+07 3.718e+07 3.449e+07 3.18e+07 2.911e+07;-4.278e+07 -4.356e+07 -4.434e+07 -4.512e+07 -4.591e+07 -4.669e+07 -4.747e+07 -4.825e+07 -4.903e+07 -4.981e+07;2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07]; 
sat_pos_5=[2.528e+06 1.416e+06 3.04e+05 -8.081e+05 -1.92e+06 -3.032e+06 -4.144e+06 -5.256e+06 -6.368e+06 -7.48e+06;6.137e+07 6.394e+07 6.651e+07 6.908e+07 7.165e+07 7.422e+07 7.679e+07 7.936e+07 8.193e+07 8.45e+07;2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07 2e+07]; 
rho=[-1.315e+04 -1.311e+04 -1.31e+04 -1.308e+04 -1.309e+04 -1.304e+04 -1.302e+04 -1.298e+04 -1.296e+04 -1.293e+04;-1.283e+04 -1.284e+04 -1.285e+04 -1.285e+04 -1.284e+04 -1.287e+04 -1.285e+04 -1.288e+04 -1.288e+04 -1.289e+04;-1.274e+04 -1.274e+04 -1.272e+04 -1.275e+04 -1.273e+04 -1.276e+04 -1.274e+04 -1.275e+04 -1.274e+04 -1.278e+04;-1.311e+04 -1.309e+04 -1.309e+04 -1.309e+04 -1.308e+04 -1.305e+04 -1.304e+04 -1.304e+04 -1.304e+04 -1.302e+04;-1.306e+04 -1.307e+04 -1.307e+04 -1.306e+04 -1.305e+04 -1.306e+04 -1.305e+04 -1.307e+04 -1.305e+04 -1.306e+04];