Minkowskian Approach to the Pseudorange Navigation Equations

Abstract

Our starting point is the covariant coordinate transformation equation of a relativistic positioning system in Minkowski space–time that maps the receiver’s emission coordinates (proper times broadcast by the emitters) to its coordinates in some inertial reference frame. Bancroft’s analytical (closed-form) solution to the basic pseudorange navigation equations with four emitters is recovered, and the subjacent elements are geometrically interpreted. The case of four static beacons is analysed as a clarifying situation.