t2 = 1.0/range;
t3 = q1*vd*2.0;
t4 = q0*ve*2.0;
t11 = q3*vn*2.0;
t5 = t3+t4-t11;
t6 = q0*q3*2.0;
t29 = q1*q2*2.0;
t7 = t6-t29;
t8 = q0*q1*2.0;
t9 = q2*q3*2.0;
t10 = t8+t9;
t12 = P[0][0]*t2*t5;
t13 = q0*vd*2.0;
t14 = q2*vn*2.0;
t28 = q1*ve*2.0;
t15 = t13+t14-t28;
t16 = q3*vd*2.0;
t17 = q2*ve*2.0;
t18 = q1*vn*2.0;
t19 = t16+t17+t18;
t20 = q3*ve*2.0;
t21 = q0*vn*2.0;
t30 = q2*vd*2.0;
t22 = t20+t21-t30;
t23 = q0*q0;
t24 = q1*q1;
t25 = q2*q2;
t26 = q3*q3;
t27 = t23-t24+t25-t26;
t31 = P[1][1]*t2*t15;
t32 = P[6][0]*t2*t10;
t33 = P[1][0]*t2*t15;
t34 = P[2][0]*t2*t19;
t35 = P[5][0]*t2*t27;
t79 = P[4][0]*t2*t7;
t80 = P[3][0]*t2*t22;
t36 = t12+t32+t33+t34+t35-t79-t80;
t37 = t2*t5*t36;
t38 = P[6][1]*t2*t10;
t39 = P[0][1]*t2*t5;
t40 = P[2][1]*t2*t19;
t41 = P[5][1]*t2*t27;
t81 = P[4][1]*t2*t7;
t82 = P[3][1]*t2*t22;
t42 = t31+t38+t39+t40+t41-t81-t82;
t43 = t2*t15*t42;
t44 = P[6][2]*t2*t10;
t45 = P[0][2]*t2*t5;
t46 = P[1][2]*t2*t15;
t47 = P[2][2]*t2*t19;
t48 = P[5][2]*t2*t27;
t83 = P[4][2]*t2*t7;
t84 = P[3][2]*t2*t22;
t49 = t44+t45+t46+t47+t48-t83-t84;
t50 = t2*t19*t49;
t51 = P[6][3]*t2*t10;
t52 = P[0][3]*t2*t5;
t53 = P[1][3]*t2*t15;
t54 = P[2][3]*t2*t19;
t55 = P[5][3]*t2*t27;
t85 = P[4][3]*t2*t7;
t86 = P[3][3]*t2*t22;
t56 = t51+t52+t53+t54+t55-t85-t86;
t57 = P[6][5]*t2*t10;
t58 = P[0][5]*t2*t5;
t59 = P[1][5]*t2*t15;
t60 = P[2][5]*t2*t19;
t61 = P[5][5]*t2*t27;
t88 = P[4][5]*t2*t7;
t89 = P[3][5]*t2*t22;
t62 = t57+t58+t59+t60+t61-t88-t89;
t63 = t2*t27*t62;
t64 = P[6][4]*t2*t10;
t65 = P[0][4]*t2*t5;
t66 = P[1][4]*t2*t15;
t67 = P[2][4]*t2*t19;
t68 = P[5][4]*t2*t27;
t90 = P[4][4]*t2*t7;
t91 = P[3][4]*t2*t22;
t69 = t64+t65+t66+t67+t68-t90-t91;
t70 = P[6][6]*t2*t10;
t71 = P[0][6]*t2*t5;
t72 = P[1][6]*t2*t15;
t73 = P[2][6]*t2*t19;
t74 = P[5][6]*t2*t27;
t93 = P[4][6]*t2*t7;
t94 = P[3][6]*t2*t22;
t75 = t70+t71+t72+t73+t74-t93-t94;
t76 = t2*t10*t75;
t87 = t2*t22*t56;
t92 = t2*t7*t69;
t77 = R_LOS+t37+t43+t50+t63+t76-t87-t92;
t78 = 1.0/t77;
A0[0][0] = t78*(t12-P[0][4]*t2*t7+P[0][1]*t2*t15+P[0][6]*t2*t10+P[0][2]*t2*t19-P[0][3]*t2*t22+P[0][5]*t2*t27);
A0[1][0] = t78*(t31+P[1][0]*t2*t5-P[1][4]*t2*t7+P[1][6]*t2*t10+P[1][2]*t2*t19-P[1][3]*t2*t22+P[1][5]*t2*t27);
A0[2][0] = t78*(t47+P[2][0]*t2*t5-P[2][4]*t2*t7+P[2][1]*t2*t15+P[2][6]*t2*t10-P[2][3]*t2*t22+P[2][5]*t2*t27);
A0[3][0] = t78*(-t86+P[3][0]*t2*t5-P[3][4]*t2*t7+P[3][1]*t2*t15+P[3][6]*t2*t10+P[3][2]*t2*t19+P[3][5]*t2*t27);
A0[4][0] = t78*(-t90+P[4][0]*t2*t5+P[4][1]*t2*t15+P[4][6]*t2*t10+P[4][2]*t2*t19-P[4][3]*t2*t22+P[4][5]*t2*t27);
A0[5][0] = t78*(t61+P[5][0]*t2*t5-P[5][4]*t2*t7+P[5][1]*t2*t15+P[5][6]*t2*t10+P[5][2]*t2*t19-P[5][3]*t2*t22);
A0[6][0] = t78*(t70+P[6][0]*t2*t5-P[6][4]*t2*t7+P[6][1]*t2*t15+P[6][2]*t2*t19-P[6][3]*t2*t22+P[6][5]*t2*t27);
A0[7][0] = t78*(P[7][0]*t2*t5-P[7][4]*t2*t7+P[7][1]*t2*t15+P[7][6]*t2*t10+P[7][2]*t2*t19-P[7][3]*t2*t22+P[7][5]*t2*t27);
A0[8][0] = t78*(P[8][0]*t2*t5-P[8][4]*t2*t7+P[8][1]*t2*t15+P[8][6]*t2*t10+P[8][2]*t2*t19-P[8][3]*t2*t22+P[8][5]*t2*t27);
A0[9][0] = t78*(P[9][0]*t2*t5-P[9][4]*t2*t7+P[9][1]*t2*t15+P[9][6]*t2*t10+P[9][2]*t2*t19-P[9][3]*t2*t22+P[9][5]*t2*t27);
A0[10][0] = t78*(P[10][0]*t2*t5-P[10][4]*t2*t7+P[10][1]*t2*t15+P[10][6]*t2*t10+P[10][2]*t2*t19-P[10][3]*t2*t22+P[10][5]*t2*t27);
A0[11][0] = t78*(P[11][0]*t2*t5-P[11][4]*t2*t7+P[11][1]*t2*t15+P[11][6]*t2*t10+P[11][2]*t2*t19-P[11][3]*t2*t22+P[11][5]*t2*t27);
A0[12][0] = t78*(P[12][0]*t2*t5-P[12][4]*t2*t7+P[12][1]*t2*t15+P[12][6]*t2*t10+P[12][2]*t2*t19-P[12][3]*t2*t22+P[12][5]*t2*t27);
A0[13][0] = t78*(P[13][0]*t2*t5-P[13][4]*t2*t7+P[13][1]*t2*t15+P[13][6]*t2*t10+P[13][2]*t2*t19-P[13][3]*t2*t22+P[13][5]*t2*t27);
A0[14][0] = t78*(P[14][0]*t2*t5-P[14][4]*t2*t7+P[14][1]*t2*t15+P[14][6]*t2*t10+P[14][2]*t2*t19-P[14][3]*t2*t22+P[14][5]*t2*t27);
A0[15][0] = t78*(P[15][0]*t2*t5-P[15][4]*t2*t7+P[15][1]*t2*t15+P[15][6]*t2*t10+P[15][2]*t2*t19-P[15][3]*t2*t22+P[15][5]*t2*t27);
A0[16][0] = t78*(P[16][0]*t2*t5-P[16][4]*t2*t7+P[16][1]*t2*t15+P[16][6]*t2*t10+P[16][2]*t2*t19-P[16][3]*t2*t22+P[16][5]*t2*t27);
A0[17][0] = t78*(P[17][0]*t2*t5-P[17][4]*t2*t7+P[17][1]*t2*t15+P[17][6]*t2*t10+P[17][2]*t2*t19-P[17][3]*t2*t22+P[17][5]*t2*t27);
A0[18][0] = t78*(P[18][0]*t2*t5-P[18][4]*t2*t7+P[18][1]*t2*t15+P[18][6]*t2*t10+P[18][2]*t2*t19-P[18][3]*t2*t22+P[18][5]*t2*t27);
A0[19][0] = t78*(P[19][0]*t2*t5-P[19][4]*t2*t7+P[19][1]*t2*t15+P[19][6]*t2*t10+P[19][2]*t2*t19-P[19][3]*t2*t22+P[19][5]*t2*t27);
A0[20][0] = t78*(P[20][0]*t2*t5-P[20][4]*t2*t7+P[20][1]*t2*t15+P[20][6]*t2*t10+P[20][2]*t2*t19-P[20][3]*t2*t22+P[20][5]*t2*t27);
A0[21][0] = t78*(P[21][0]*t2*t5-P[21][4]*t2*t7+P[21][1]*t2*t15+P[21][6]*t2*t10+P[21][2]*t2*t19-P[21][3]*t2*t22+P[21][5]*t2*t27);
A0[22][0] = t78*(P[22][0]*t2*t5-P[22][4]*t2*t7+P[22][1]*t2*t15+P[22][6]*t2*t10+P[22][2]*t2*t19-P[22][3]*t2*t22+P[22][5]*t2*t27);
A0[23][0] = t78*(P[23][0]*t2*t5-P[23][4]*t2*t7+P[23][1]*t2*t15+P[23][6]*t2*t10+P[23][2]*t2*t19-P[23][3]*t2*t22+P[23][5]*t2*t27);