function [Rcv_Pos,Rcv_b]=Rcv_Pos_Compute(SV_Pos,SV_Rho)
Num_Of_SV=size(SV_Pos);
if Num_Of_SV<4
    Rcv_Pos=[0 0 0];Rcv_b=0;
    return;
end
%Initial Constant
C=299792458;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Initial GPS Position
Rcv_Pos=[0 0 0];Rcv_b=0;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Start Iteration
%Constrain for convergence  
  B1=1;
  END_LOOP=100;
  count=0;
while (END_LOOP > B1) 
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %A.Compute G
    G=G_Compute(SV_Pos,Rcv_Pos);
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %B.Compute Delta_Rho
    Delta_Rho=Delta_Rho_Compute(SV_Rho,SV_Pos,Rcv_Pos,Rcv_b);
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    %C.Iteration for new postion
    Delta_X=inv(G'*G)*G'*Delta_Rho;
    Rcv_Pos=(Rcv_Pos'+Delta_X(1:3))';
    Rcv_b=Rcv_b+Delta_X(4);
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    END_LOOP=(Delta_X(1)^2+Delta_X(2)^2+Delta_X(3)^2)^.5;
    count=count+1;
    if count>10
        END_LOOP=B1/2;
    end
end%End of While
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%