How to compute the projection of a GNSS module at a height h with x, y, z, roll, pitch, yaw data on a flat ground?

I searched online and couldn't find anything about how to handle such question.

CodePudding user response：

A place to start might be equation 1.78 in 'GPS for Geodesy' Edited by Kleugsberg and Teunissen which you can take a look at in pdfdrive.