The Global Positioning System (GPS) may be used in conjunction with Inertial Navigation Systems (INS) for tracking and navigation and may be applied in the civilian and military sectors to track devices, to locate people and objects, in the air, on the ground, or at sea. The book is intended for readers who need to combine Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and Kalman filters. With a focus on providing readers with solutions to real-world problems, the book offers numerous detailed examples and practice problems, as well as software that demonstrates Kalman filter algorithms with GNSS and INS data sets. The book is accompanied by a Solutions Manual for instructors.