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In a past life, when I was mixing GPS, accelerometer, gyros, and tachometer sensors, Aided Navigation by Jay A Farrel (http://www.amazon.com/Aided-Navigation-High-Rate-Sensors/dp/...) was super handy.

Optimal State Estimation by Dan Simon helped, too: http://www.amazon.com/Optimal-State-Estimation-Nonlinear-App...




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