We are all familiar with GPS (Global Positioning System) and its myriad applications. From getting directions using Google maps to hailing a ride using a ride sharing app, countless individuals and businesses rely on accurate position estimation using GPS. Position estimation using GPS is now so accurate that GPS is being used for measuring plate tectonics and continental drift. Indeed, GPS is so much a part of our lives that few of us stop and wonder how it actually works. The purpose of this p...