$$ \def\v{\mathbf{v}} \def\u{\mathbf{u}} \def\a{\mathbf{a}} \def\b{\mathbf{b}} \def\c{\mathbf{c}} \def\w{\boldsymbol{\omega}} \def\p{\mathbf{p}} \def\t{\mathbf{t}} \def\i{\mathbf{i}} \def\j{\mathbf{j}} \def\e{\mathbf{e}} \def\k{\mathbf{k}} \def\r{\mathbf{r}} \def\d{\mathbf{d}} \def\x{\mathbf{x}} \def\y{\mathbf{y}} \def\q{\mathbf{q}} \def\qq{\Gamma} \def\qr{\q_{r}} \def\qd{\q_{d}} \def\SO{\mathit{SO}} \def\SE{\mathit{SE}} \def\skew#1{\left\lfloor #1\right\rfloor _{\times}} \def\norm#1{\left\Vert #1\right\Vert } \def\grey#1{\textcolor{gray}{#1}} \def\abs#1{\left|#1\right|} \def\S{\mathcal{S}} \def\dd{\boldsymbol{\delta}} \def\Ad{\textrm{Ad}} \def\SU{\mathit{SU}} \def\R{\mathbb{R}} \def\so{\mathfrak{so}} \def\se{\mathfrak{se}} \def\su{\mathfrak{su}} $$ .center { display: block; margin-left: auto; margin-right: auto; text-align: center; width: 80%; } .side_by_side { display: block; /* shrink wrap the contents */ margin: 0 auto; /* center via left/right margins */ text-align: center; width: 100%; } Introduction GPS (or, the more generic term, GNSS) is an amazing technology that has enabled huge advancements in autonomous technology.