Principles of GNSS, inertial, and multisensor integrated navigation systems, 2nd edition [Book review]

This second edition of Dr. Grove\´s book (the original was published in 2008) could arguably be considered a new work. At just under 1,000 pages (including the 11 appendices on the DVD), the second edition is 80% longer than the original. Frankly, the word "book" hardly seems adequate, considering the wide range of topics covered. "Mini-encyclopedia" seems more appropriate. The hardcover portion of the book comprises 18 chapters, and the DVD includes the aforementioned appendices plus 20 fully worked examples, 125 problems or exercises (with answers), and MATLAB routines for the simulation of many of the algorithms discussed in the main text. Here is a brief overview of the contents: ??? Chapters 1???3: an overview of the diversity of positioning techniques and navigation systems; fundamentals of coordinate frames, kinematics and earth models; introduction to Kaiman filtering ??? Chapters 4???6: inertial sensors, inertial navigation, and lower-cost dead reckoning systems ??? Chapters 7???12: principles of radio positioning, short-, medium-, and long-range radio navigation, as well as extensive coverage of global navigation satellite systems (GNSS) ??? Chapter 13: environmental feature matching. ??? Chapters 14???16: various integration topics, including inertial navigation system (INS)/GNSS integration, alignment, zero-velocity updates, and multisensor integration ??? Chapter 17: fault detection. ??? Chapter 18: applications and trends. In summary, this book is an excellent reference (with numerous nuggets of wisdom) that should be readily handy on the shelf of every practicing navigation engineer. In the hands of an experienced instructor, the book will also serve students as a great textbook. However, the lack of examples integrated in the main text makes it difficult for the book to serve as a self-study guide for those that are new to the field.