diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
index 71f26a4a1..439d43604 100644
--- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
@@ -223,6 +223,8 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
 	            std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
 	            << " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
 	            << " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
+	            std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
+	            << " is HDOP = " << d_ls_pvt->d_HDOP << " and VDOP = " << d_ls_pvt->d_VDOP << std::endl;
     		}
 
     		if(d_dump == true)
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
index 09e931408..e2fb97245 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -216,6 +216,24 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
             //--- Apply position update --------------------------------------------
             pos = pos + x;
         }
+
+    try{
+    //-- compute the Dilution Of Precision values
+		arma::mat Q;
+		Q       = arma::inv(arma::htrans(A)*A);
+		d_GDOP  = sqrt(arma::trace(Q));                 // GDOP
+		d_PDOP  = sqrt(Q(1,1) + Q(2,2) + Q(3,3));       // PDOP
+		d_HDOP  = sqrt(Q(1,1) + Q(2,2));                // HDOP
+		d_VDOP  = sqrt(Q(3,3));                         // VDOP
+		d_TDOP  = sqrt(Q(4,4));                         // TDOP
+    }catch(std::exception e)
+    {
+    	d_GDOP  = -1;
+		d_PDOP  = -1;
+		d_HDOP  = -1;
+		d_VDOP  = -1;
+		d_TDOP	= -1;
+    }
     return pos;
 }
 
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
index 63526873d..3fe375259 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
@@ -68,6 +68,7 @@ public:
     double d_latitude_d;  //! Latitude in degrees
     double d_longitude_d; //! Longitude in degrees
     double d_height_m;    //! Height [m]
+
     //averaging
     std::deque<double> d_hist_latitude_d;
     std::deque<double> d_hist_longitude_d;
@@ -82,6 +83,14 @@ public:
     double d_y_m;
     double d_z_m;
 
+    // DOP estimations
+
+    double d_GDOP;
+    double d_PDOP;
+    double d_HDOP;
+    double d_VDOP;
+    double d_TDOP;
+
     bool d_flag_dump_enabled;
     std::string d_dump_filename;
     std::ofstream d_dump_file;