Books/Resources on inertial navigation

Hi there,

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.

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