The only comprehensive guide to kalman filtering and its applications to real-world GPS/INS problems

Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporaty applications of Global Positioning Systems (GPS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS.

1. Introduction
2. Fundamentals of Satellite and Inertial Navigation
3. Signal Characteristics and Information Extraction
4. Receiver and Antenna Design
5. GPS Data Errors
6. Inertial Navigation
7. Kalman Filter Basics
8. Kalman Filter Engineering
9. Differential GPS