The main aims of this book are as follows: • To describe, both qualitatively and mathematically, global navigation satellite systems (GNSS), inertial navigation, and many other navigation and positioning technologies, focusing on their principles of operation, their performance characteristics, and how they may be integrated together; • To provide a clear and accessible introduction to navigation systems suitable for those with no prior knowledge; • To review the state of the art in navigation and positioning, introducing new ideas, as well as presenting established technology.

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