An updated guide to GNSS and INS, and solutions to real-world GPS / INS problems with Kalman filtering Written by recognized authorities in the field, the second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational System (INS), and Kalman filter . This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including the estimated ionospheric delay with Kalman filter New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 / L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance understanding of the topics discussed, the authors have included software in MATLAB, demonstrating the algorithms work GNSS, INS, and filter.