Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems offers you a solid understanding of satellite navigation, inertial navigation, terrestrial radio navigation, dead reckoning, feature matching, and integrated navigation. It provides both an introduction to navigation systems and an indepth treatment of INS/GNSS and multisensor integration. The book shows you how satellite, inertial, and other navigation technologies work, and focuses on processing chains and error sources. In addition, you get a clear introduction to coordinate frame, multiframe kinematics, Earth models, gravity, and the Kalman filter. Providing solutions to common integration problems, the book describes and compares different integration architectures, and explains how to model different error sources. You get a broad and penetrating overview of current technology and are brought up to speed with the latest developments in the field, including the new GNSS signals, GNSS operation in challenging environments, deep integration, enhanced Loran, urban and indoor positioning, and pedestrian dead reckoning.