This is my first post on the community.
I am looking for great resources to learn the fundamentals of inertial navigation - sensor fusion, Kalman filtering, EKF and relevant things as a newcomer. Something like an initial guidance on how to build a good foundation of the theory, plus learn to implement things in practical.
Can someone recommend a great book or two? Math is not a problem, but it will help if things don’t get way too involved. Maybe something that will grow intuitive understanding of the theory as well.
Or simply put, I just want to understand all nitty gritty mathematical and implementational details of the AHRS library.