How to plot such a 3D GPS constellation?

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Hongcheng
Hongcheng on 5 Apr 2015
I saw a figure as shown above in GPS wikipedia ( http://en.wikipedia.org/wiki/Global_Positioning_System#Space_segment ).
The figure was created with Matlab.
Could anyone tell me how to plot such a figure using Matlab? Which functions are used?
Thanks very much!

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