Introduction to modern navigation systems - Bekir, Esmat (World Scientific, 2007)
Master and use copy. Digital master created according to Benchmark for Faithful Digital Reproductions of Monographs and Serials, Version 1. Digital Library Federation, December 2002
Includes bibliographical references and index
Vectors and matrices -- Coordinate transformation between othonormal frames -- Forms of the transformation matrix -- Earth and navigation -- The intertial navigation system equations -- Implementation -- Air data computer -- Polar navigation -- Alignment -- Attitude and heading reference system -- GPS aided inertial system -- The vector dot and cross products -- Introduction to quaternion algebra -- Simulink models -- Ellipse geometry -- Vector dynamics -- Derivation of air speed equations -- DCM error algebra -- Kalman filtering