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There is great wealth of information about the GPS system available in various technical publications. A highly readable account for the layman is available at the web-site http://wikipedia.com. There the interested reader will also find links to other source material.
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Phadke, A., Thorp, J. (2008). Phasor Measurement Units and Phasor Data Concentrators. In: Synchronized Phasor Measurements and Their Applications. Power Electronics and Power Systems. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-76537-2_5
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