I have posted this in MathOverflow because the subject is primarily Math related.

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

Autonomous-Flying-Robots-Unmanned-Vehicles

I hope someone experienced in this area can provide any recommendations.

Many thanks.