The aim of this book is to provide an advanced introduction to inertial data processing (determination of attitude, velocity and position) along with design architectures and algorithms used to aid the inertial navigation system (INS). The emphasis is on the high-end sensors and systems used in aerospace applications (known as 'navigation grade' or 'nav grade').

• Chapter 1: Introduction and overview of inertial navigation systems
• Chapter 2: Reference frames and the mathematics of rotations
• Chapter 3: Inertial processing in a fixed reference frame
• Chapter 4: The impact of pseudo-forces in the velocity update
• Chapter 5: Earth rate, transport rate, gravity, and the velocity update
• Chapter 6: Spatial rate, navigation frame rotation, and position update
• Chapter 7: The wander azimuth mechanization
• Chapter 8: Navigation-grade inertial sensors
• Chapter 9: Inertial error analysis
• Chapter 10: Inertial error simulation
• Chapter 11: Inertial initialization - Part A
• Chapter 12: Introduction to integration and estimation theory
• Chapter 13: Estimation theory and introduction to the Kalman filter
• Chapter 14: The multivariate Kalman filter
• Chapter 15: Radionavigation Kalman filtering: case studies in two dimensions
• Chapter 16: GPS-only Kalman filtering
• Chapter 17: Introduction to inertial aiding
• Chapter 18: Inertial aiding in two dimensions
• Chapter 19: Inertial error modeling
• Chapter 20: GNSS-aided INS: loose coupling
• Chapter 21: GNSS-aided INS: tight coupling
• Chapter 22: Aided INS: observability and feedback
• Chapter 23: Baro-inertial vertical channel
• Chapter 24: Inertial initialization - Part B
• Chapter 25: Conclusion: inertial+
• Appendix A: Two important stochastic processes
• Appendix B: One-at-a-time measurement processing