加拿大卡尔加里大学的INS/GPS组合导航设计讲义，设计思路很清晰，适合初学者。-The University of Calgary, Canada INS/GPS integrated navigation design notes, design ideas very clear, suitable for beginners.

多径和多普勒的讲义，文件内含matlab源代码，对于了解多径和多普勒效应很有帮助。-Multipath and Doppler handouts, matlab file containing the source code for understanding the effect of multipath and Doppler helpful.