Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration

Excellent introduction to integrated GPS/INS. The equations in the kindle version are a bit hard to read, need to zoom in order to see clearly. Wish I had chosen the print version. But otherwise an excellent book that was easily understood by someone with limited expertise in this subject.

very clear exposition indeed.

Probably one of the best references for INS related studies.The explanations are thorough (then again I took the class taught by the Prof Noureldin).A good text to start learning about INS. But you'll have to move on to reading papers for more advanced or updated techniques.Too bad there is no index.