Global navigation satellite systems are dedicated radio positioning services, which can locate a receiver to within a few meters. The most prominent system, GPS, consists of a constellation of 31 satellites (as of December 2013) in high, 12-hour circular orbits, distributed in six planes with 55° inclinations. The principle of location is based on trilateration. Each satellite transmits a precise ephemeris with information on its own position and a message containing the exact time of transmission. The receiver compares this time of transmission with its own clock at the time of reception and multiplies the difference by the speed of light to obtain a "pseudorange." Four pseudoranges are needed to obtain the precise time and the receiver's position within a few meters. More sophisticated methods, such as real-time kinematic (RTK) can yield positions to within a few millimeters.