The Global Positioning System and Inertial Navigation is the first-ever reference to provide engineers and scientists with a detailed, top-to-bottom look at GPS and INS in a single volume. Features include integrated practical examples, in-depth case studies, detailed theoretical derivations, guidelines for building integrated GPS/INS systems, advanced GPS and INS techniques presented in a unifying format, comparison of alternative implementation techniques, and a systematic engineering design approach. Extensively cross-referenced to the literature on advanced navigation system design, this engineering reference is ideal for navigation systems designers, analysts, and project managers.