Trying to work out which GPS/INS book to spend your $100 on? Maybe Farrell`s book? Aided Navigation: GPS with High Rate Sensors Titterton`s? Strapdown Inertial Navigation Technology (IEE Radar, Sonar, Navigation and Avionics Series) Or one of the others out there? Answer: This one. It`s clearer and more complete than Farrell and covers more ground than Titterton. It`s accessible and readable. You can actually start from the word go and actually implement a complete GPS/INS with this book. Score! The book, however, is not perfect. It`s chapter on augmenting other sensors is superficial and incomplete. It states, but does not go into much detail about the manoeuvre requirements for attitude observability. It`s missing direct-form implementations of GPS/INS and with it, several more modern estimation methods (e.g. particle filter, UKF, ...). However, against the book`s peers it`s a good step ahead and recommended for both students in the field and practitioners.

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