An updated guide to GNSS, and INS, and solutions to realworld GNSS/INS problems with Kalman filteringWritten by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving realworld problems, with an emphasis on the effective use of stateoftheart 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 realworld situations, and provide numerous detailed application examples and practice problems, including GNSSaided INS (tightly and loosely coupled), modeling of gyros and accelerometers, and SBAS and GBAS.Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. The Third Edition includes:Updates on the upgrades in existing GNSS and other systems currently under developmentExpanded coverage of basic principles of antenna design and practical antenna design solutionsExpanded coverage of basic principles of receiver design and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiverExpanded coverage of inertial navigation, its history, its technology, and the mathematical models and methods used in its implementationDerivations of dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parametersGreatly expanded coverage of GNSS/INS integration, including derivation of a unified GNSS/INS integration model, its MATLAB implementations, and performance evaluation under simulated dynamic conditionsThe companion website includes updated background material; additional MATLAB scripts for simulating GNSSonly and integrated GNSS/INS navigation; satellite position determination; calculation of ionosphere delays; and dilution of precision.