Cover -- Title -- Copyright -- Foreword -- Contents -- Preface -- Part 1. Elements of Integrated Navigation Systems -- 1 Introduction -- 2 Mathematical Preliminaries -- 3 Coordinate Systems and Transformations -- 4 Earth Models -- 5 Terrestrial Navigation -- 6 Navigation Sensor Models -- 7 Navigation Aids -- 8 Kalman Filtering -- Part 2. Applications -- 9 Strap-Down Inertial Sensor Laboratory Calibration -- 10 Flight-Test Evaluations -- 11 Inertial Navigation System Ground Alignment -- 12 Integration via Kalman Filtering: Global-Positioning-System Receiver -- 13 In-Motion Alignment -- 14 Integrated Differential Global Positioning System/Dead-Reckoning Navigation -- 15 Attitude-Determination and Estimation -- 16 Summary -- Appendix A Pinson Error Model -- Appendix B Orbital Dynamics -- Appendix C Coarse-Alignment Error Equations -- Appendix D Fine-Alignment Error Equations -- Appendix E References -- Appendix F Bibliography -- Index -- Supporting Materials.