The book is intended for readers who need to combine Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems (INS), and Kalman filters. The focus of the book is to provide readers with solutions to real-world problems. The authors provide numerous detailed examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. This complete revision of the second edition includes new GNSS systems that are becoming available to the international community, significant improvements in MEMS inertial sensors, and advancements in antenna technology.