Positioning by Pseudorange Measurements Using the Bancroft Method: Approaches to the Description of the Nonlinear Error Distribution

The Bancroft method is an analytical solution of the problem of the positioning by pseudorange measurements. In the case of four measurements, the solution coincides with the maximum likelihood solution. The error of the method non-linearly depends on the measurement errors; often the distribution of the solution errors cannot be effectively described using a standard scattering ellipsoid. The paper offers a description of the arc along which the solutions are distributed.