A Global Navigation Satellite System (GNSS) was developed for military purposes, but it is currently also used in various civilian fields (e.g., land transportation, shipping, and aviation) (Son et al. 2013). GNSS can determine the position of a receiver using the measurements of signals received from at least four satellites. Accordingly, GNSS is used for positioning in relation to traffic, geodetic survey, and surveying, and also widely used for time synchronization, weather monitoring, etc. (Lee et al. 2013). The economic and social importance of GNSS is well known. Therefore, many countries in the world have made efforts to establish their own GNSS. Starting with the Global Positioning System (GPS) from the United States, the development of the GLObal NAvigation Satellite System from Russia has been completed; and Galileo from Europe,