# Best book for learning sensor fusion, specifically regarding IMU and GPS integration.

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

Autonomous-Flying-Robots-Unmanned-Vehicles

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

Many thanks.

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I don't know if it's the best book, but T&DA by Bar-Shalom is considered a standard reference for problems of this kind, AFAIK.

http://www.amazon.com/Tracking-data-association-Yaakov-Bar-Shalom/dp/B0006YT0HY

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I'd recommend "Applied Optimal Estimation", edited by Arthur Gelb. It won't answer all your questions, but I think it will help quite a bit.

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If you want to learn the mathematical theory of sensor fusion I strongly recommend you invent it.

There are good engineering books, including the ones cited in the answers, on several different aspects of sensor fusion. A mathematical theory doesn't exist yet.

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Really, right on! And I'll help! My email address is in my profile! – drbobmeister Apr 5 '12 at 3:57