"This book is intended for readers who need to combine Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and Kalman filters. The focus of the book is to provide readers with solutions to real-world problems. The authors provide numerous detailed examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. This revised third edition removes information related to the now-obsolete Selective Availability and adds new material on GPS III and RAIM. It also provides updated information on low cost sensors such as MEMS, as well as GLONASS, BeiDou, and QZSS. Revisions also include added material on the more numerically stable square-root information filter (SRIF) with MATLAB programs and new examples from the GNSS system state filter for the GPS OCX, such as ensemble time filter with square-root covariance filter (SRCF) of Bierman and Thornton and SigmaRho filter"-- Provided by publisher.