There's nothing really wrong with this book. The layout is logical. The chapters are well organised, although there is some to-and-fro between the self-alignment and AHRS chapters. There is example code that seems to work (except, of course, for the really important chapters).



The problem is, Groves (Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems (GNSS Technology and Applications)) does it better, more logically and, as a practitioner, more useful in implementing a GPS/INS system.



It does do some things better than Groves: it introduces Doppler radar, barometric measurements and other sensors and shows how they can be put into the framework. It also does quaternions, something barely addressed in Groves.



However, from a practitioner's point of view, the "advantage" of leaving the rotation description as neutral makes the presentation more difficult to follow. Groves sticks to DCM for the sake of clarity and it pulls off.