This book is intended for people who need to combine global navigation satellite systems (GNSSs), inertial navigation systems (INSs), and Kalman filters. Our objective is to give our readers a working familiarity with both the theoretical and practical aspects of these subjects. For that purpose we have included “realworld” problems from practice as illustrative examples.
We have included “Real world” problems from practice as illustrative examples. We also cover the more practical aspects of implementation: how to represent problems in a mathematical model, analyze performance as a function of model parameters, implement the mechanization equations in numerically stable algorithms, assess its computational requirements, test the validity of results, and monitor performance in operation with sensor data from GNSS and INS. These important attributes, often overlooked in theoretical treatments, are essential for effective application of theory to real-world problems.
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