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Thank you to everyone who has posted resources in this thread. Just yesterday I was talking to a younger engineer about how one of our GPS systems works. I know the complete unit has a GPS and an IMU, and I knew of the Kalman filter, but was unable to explain it beyond "it combines the GPS and IMU inputs to create a position and velocity solution with greater precision and accuracy than can be achieved with either source separately". Now I have much reading to do, and so does the young engineer. Thanks! This will help for the long wait I have in the doctor's office tomorrow...

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