Strapdown Inertial Navigation Technology (Radar, Sonar and Navigation)

An excellent text that has helped me work through some challenges with a legacy inertial navigation system in one of our underwater systems and provided a better overall understanding of the topic area, including advances in inertial sensor technology.

This book has the most comprehensive breakdown and analysis of the principles and modeling of accelerometer and gyro technologies I've seen in a book yet, though there are already some very good books on stable platform products. There's also a wealth of information on various coordinate systems used in the vicinity of Earth. While an entire chapter is devoted to MEMS, it would seem that the mechanization material (as well as alignment) is geared towards higher-end devices, in that many MEMS units I've encountered cannot readily identify any component of Earth's rotation, making much of the math superfluous for my application. There is a chapter near the end that deals briefly with aiding, but don't count on that being enough. A number of real-world periodic motions, both short-term (coning, sculling) and long-term (Schuler, Foucault), are identified, and the references to literature at the end of each section are invaluable in digging deeper. Kalman filtering is relegated to an appendix, but that is fine, as this book is significantly more oriented to applications; pick up a copy of Gelb if you need an intro to estimation.

A good introduction from the ground up. Concepts were easily conveyed to the reader. I'm much more comfortable with strapdown systems after reading this book.

Despite covering a wide range of complex subjects, the explanations in this book are clear. This book played a key role in my understanding of INS systems, and I highly recommend it to others.

Strapdown Inertial Nav. is an excellent book for those who would like to understand the technology or learn how to process inertial sensor data.