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P. Closas, C. Fernandez-Prades and J. Fernandez-Rubio, “Cramér-Rao Bound Analysis of Position Approaches in GNSS Receivers,” IEEE Transactions on Signal Pro- cessing, Vol. 57, No. 10, 2009, pp. 3775-3786. http://dx.doi.org/10.1109/TSP.2009.2025083

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