The definitive navigation systems textbook, rebuilt chapter by chapter as interactive lessons. From coordinate frames to tightly coupled INS/GNSS fusion, with live simulations at every step.
ECI, ECEF, local navigation, and body frames. Euler angles, DCMs, quaternions, Earth models, and gravity.
State estimation, system propagation, measurement update, gain computation, EKF, and filter tuning.
Accelerometers, gyroscopes (spinning mass, optical, vibratory), IMUs, and error characteristics.
Navigation equations in ECI, ECEF, and local frames. Attitude update, velocity integration, alignment, error propagation.
GNSS fundamentals, GPS, GLONASS, Galileo, signals, pseudo-range measurements, and positioning.
Satellite orbits, receiver hardware, signal tracking, range errors, DOP, and the navigation processor.
Differential GNSS, carrier-phase positioning, integer ambiguity, poor SNR environments, multipath mitigation.
Loran, ILS, urban and indoor positioning, WLAN, UWB, mobile phone, and signals of opportunity.
Magnetometers, AHRS, barometric altimeters, odometers, pedestrian dead reckoning, Doppler radar.
Terrain-referenced navigation, image matching, map matching, gravity gradiometry, stellar navigation.
Loosely and tightly coupled architectures, deep integration, system models, measurement models.
Transfer alignment, quasi-stationary alignment, fine alignment, ZUPT implementation.
Least-squares, cascaded, centralized, and federated architectures. Integration of all sensor types.
Failure modes, range checks, innovation filtering, RAIM, parallel solutions, certified integrity.