The National Natural Science Foundation of China, No.41374012;Comprehensive Reform Research Program for 2012 Undergraduate Teaching in School of Geodesy and Geomatics of Wuhan University, No.201220;Foundation for National Teaching Team of Satellite Navigation Courses, No.214275482.国家自然科学基金41374012;武汉大学测绘学院2012年本科专业综合改革教学研究项目201220;卫星导航定位系列课程国家级教学团队214275482.