Mohinder S. Grewal的第三版Global Navigation Satellite Systems, Inertial Navigation, and Integration [ISBN: 978-1118447000]。 An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS (tightly and loosely coupled), modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. The Third Edition includes: Updates on the upgrades in existing GNSS and other systems currently under development Expanded coverage of basic principles of antenna design and practical antenna design solutions Expanded coverage of basic principles of receiver design and an update of the foundations for code and carrier acquisition and tracking within a GNSS receiver Expanded coverage of inertial navigation, its history, its technology, and the mathematical models and methods used in its implementation Derivations of dynamic models for the propagation of inertial navigation errors, including the effects of drifting sensor compensation parameters Greatly expanded coverage of GNSS/INS integration, including derivation of a u

利用卡尔曼滤波完成组合导航和分布式信息融合和故障检测

这两篇论文来自于中国知网，主要是描述基于sinmulink的组合导航的仿真。

程序中主要包括 卡拉曼滤波 EKF UKF PF 改进PF 以及GPS/INS组合导航中各种滤波的仿真应用。主要针对做导航的学生设计

详细的INS／GPS组合导航程序，卡尔曼滤波，初始化条件。

C语言的GNSS和INS的松组合代码，C语言的GNSS和INS的松组合代码

GNSS+INS松组合数据+C语言代码 GNSS+INS松组合数据+C语言代码GNSS+INS松组合数据+C语言代码 GNSS+INS松组合数据+C语言代码

采用联邦滤波进行的惯性、GPS、地磁组合导航，对于理解组合导航、地磁算法、联邦滤波算法有很好的意义。适用于任何导航领域。

卡尔曼滤波与组合导航原理++第2版+秦永元，张洪钺，汪叔华编著+西北工业大学出版社

GNSS惯性导航组合(第3版) Global Navigation Satellite Systems, Inertial Navigation, and Integration, Third Edition ISBN 9787121278754 配套MATLAB源代码 Mohinder S. Grewal, California State University at Fullerton Angus P. Andrews, Rockwell Science Center Chris G. Bartone, Russ College of Engineering and Technology 陈军 余金峰 纪学军等译