This book is probably the best one in the field of inertial navigation, but unfortunately, that isn't saying much. It is probably the most comprehensive of the books I have read, but still lacks full explanation and derivation. Like many other books on the subject, the notation used dates from the 60's and needs to be polished up to modern notation (how about bold face vectors and Matrices for starters).

The most confusing part of this book is that the many of the symbols are recycled and/or are inadequately explained. This means extra effort is required to derive or infer what they actually mean. Many of the key Matrix equations (Fig 5.2) should have a breif explanation below them so that the reader doesn't have to spend 30 minutes going through the text to determine symbol meanings. Additionally, the difference between perturbation and alternative form are inadequately explained, forcing the reader to find IEEE papers for better description.

As mentioned, this book is probably the most comprehensive on the subject and can almost stand alone (emphasis on almost). Someday somebody will publish the ultimate Intertial navigiation text!

This book is probably the best one in the field of inertial navigation, but unfortunately, that isn't saying much. It is probably the most comprehensive of the books I have read, but still lacks full explanation and derivation. Like many other books on the subject, the notation used dates from the 60's and needs to be polished up to modern notation (how about bold face vectors and Matrices for starters).

The most confusing part of this book is that the many of the symbols are recycled and/or are inadequately explained. This means extra effort is required to derive or infer what they actually mean. Many of the key Matrix equations (Fig 5.2) should have a breif explanation below them so that the reader doesn't have to spend 30 minutes going through the text to determine symbol meanings. Additionally, the difference between perturbation and alternative form are inadequately explained, forcing the reader to find IEEE papers for better description.

As mentioned, this book is probably the most comprehensive on the subject and can almost stand alone (emphasis on almost). Someday somebody will publish the ultimate Intertial navigiation text!