Our starting point is the covariant coordinate transformation equation of a relativistic positioning system in Minkowski space–time that maps the receiver’s emission coordinates (proper times broadcast by the emitters) to its coordinates in some inertial reference frame. Bancroft’s analytical (closed-form) solution to the basic pseudorange navigation equations with four emitters is recovered, and the subjacent elements are geometrically interpreted. The case of four static beacons is analysed as a clarifying situation.

中文翻译：

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伪距导航方程的闵可夫斯基方法

我们的出发点是闵可夫斯基时空中相对论定位系统的协变坐标变换方程，该方程将接收器的发射坐标（发射器广播的固有时间）映射到其在某些惯性参考系中的坐标。恢复了班克罗夫特对具有四个发射器的基本伪距导航方程的解析（封闭形式）解，并对下面的元素进行了几何解释。为了澄清情况，对四个静态信标的情况进行了分析。