Topic: Correct latitude,longitude given roll, pitch and height

[jhedmonton]

I am new here, so if this is posted in the wrong category please forgive me.

I am trying to find an algorithm which corrects a set of latitude, longitude values with roll and pitch. The real world example is a vehicle with a GPS receiver at a given height. If this vehicle is driven on a slope, the GPS position provided by the receiver is not the correct position at ground level.

Is there a some sample code or formula one can use?

THANKS