Test I: DCA controlled the KF to near 3-4 Hz rate, keeping submeter accuracy. Proven DCA accuracy/stability efficacy when trajectory demands it so. Test II: Errors similar to 10 Hz fixed cadence case, but with half the iterations. Effective processing load control when subject to variable dynamics. Other tests - a GPS L1 SPS SWR running on PDAs: Typical gain of 7 in PVT computational load, compared to 20 ms case. In one case, DCA was critical for real-time effectiveness of the SWR.
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