The emerging technology of very inexpensive inertial sensors is available for navigation as never before. The book lays the analytical foundation for understanding and implementing the navigation equations. It starts by demystifying the central theme of the frame rotation using such algorithms as the quaternions, the rotation vector and the Euler angles. After developing navigation equations, the book intoduces the computational issues and discusses the physical aspects that are tied to implementing these equatrions. The book then explains alignment techniques.Bekir, Esmat is the author of 'Introduction to Modern Navigation Systems', published 2007 under ISBN 9789812707666 and ISBN 9812707662.