1. Navigation and Instrumentation Research Group (NavINST), Electrical and Computer Engineering Department, Royal Military College of Canada, Kingston, ON, Canada K7K 7B4
2. Trusted Positioning Inc., Calgary, AB, Canada T2L 2K7
3. Navigation and Instrumentation Research Group (NavINST), Electrical and Computer Engineering Department, Queen’s University, Kingston, ON, Canada K7L 3N6