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I have a requirement of building an Inertial Measurement Unit (IMU) from the following sensors: Accelerometer Gyroscope Magnetometer I must integrate this data to derive the attitude of the sensor platform and the external forces involved (eg. subtract tilt from linear acceleration). I must then use this information to compliment a standard GPS unit to provide higher consistent measurements than can be provided by GPS alone. I do understand the basic requirements of this problem: Integrate sensors. (To cancel noise, subtract acceleration). Remove noise. (Kalman filter) Integrate IMU measurement into GPS. Whilst there are various libraries currently around that would do this for me ( http://code.google.com/p/sf9domahrs/ ) I need to understand the mechanisms involved to a level where I am able to explain the techniques to other individuals after I have implemented the solution. I have been looking at the following resources, but I am unsure which I should go for... I need something covering Sensor Fusion, Filtering, IMU, Integration. Multisensor-Fusion-Integration-Intelligent-Systems Positioning-Systems-Inertial-Navigation-Integration Mechatronics-Intelligent-Systems-Off-road-Vehicles <a href="http://www.amazon.co.uk/Autonomous-Flying-Robots-Unmanned-Ve

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