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Kalman Filtering Theory and Practice Using MATLAB, 4th Edition

             Wiley & Sons, Released 2015     

· Principal author, co-authored with Angus P. Andrews 

· Significant revision of the 3rd Edition (2008) with state of the art developments since the previous edition, new problems, new chapters, and new examples.

· Online demo programs and problems and Solution Manual for instructors.

· Quote from Book Review of First Edition, IEEE Transactions on Automatic Control, Vol. 40, No. 11, November 1995, pp. 1983-6.  Also reviewed in Proceedings of IEEE, February 1996, pp. 321-304:

Many implementation issues which are not to be found in any one prior book are presented and explored...veteran KF applications authors are well qualified by experience and accomplishments to undertake their ambitious goal of becoming mentors to the next generation of information age systems engineers...The concluding Chapter 7 is worth many times the price of the book in terms of practical advice...An authentic magnum opus worth much more than its weight in gold! 

· Originally published as Kalman Filtering Theory and Practice, Prentice Hall, 1993.  Included Software in C++, MATLAB, and FORTRAN, and Solution Manual, with A. P. Andrews. 

· Positive reviews by Stanford Professor Thomas Kailath and former Brigham Young University Professor Robert Bass.  Used by prestigious universities, nationally and internationally.


Global Navigation Satellite Systems, Inertial Navigation, and Integration 3rd Edition.     Wiley & Sons, 2013

· Principal author, with co-authors Angus P. Andrews and Chris G. Bartone.  Release date 2015 for edition release in Simplified Chinese.

· Total revision of the previously titled Global Positioning Systems, Inertial Navigation, and Integration, with MATLAB® 2nd Edition, 2007 and 1st Edition, 2003 with coauthors Lawrence Weill (CSUF) and Angus Andrews.

· Updates on upgrades in existing GNSS and other systems currently under development; expanded coverage of antenna design solutions, receiver design, code and carrier acquisition and tracking within a GNSS receiver; and expanded coverage of inertial navigation, its history, its technology, and the   mathematical models and methods used in its implementation.

· Online demo programs and problems and Solution Manual for instructors.

· Reviews

             Quote from Book Review of 1st Edition, in GPS World, July 2001, pp. 46-47. 

Noteworthy is the comprehensiveness of the material on GPS, Kalman filtering and Kalman filter engineering, and the appendix on coordinate transforms...An instructor could easily develop a one-semester course on basic GPS or a full year course on GPS and inertial navigation, each of them 'glued' together by the Kalman filter and enlivened by computer experiments with the MATLAB code provided...effectively addresses most of the basic engineering and performance issues relating to GPS/ especially scholarly quality...meticulously researched... recommended for personal and professional libraries.

Quote from “Book Review,” Journal of Geodesy (2003) 77: 240-245 (1st Edition)

material is well-chosen and clearly structured....balanced introduction to GPS.  The reviewer recommends the book to geomatic students and practicing engineers who are interested in exploring multi-sensor systems engineering. The authors describe most of the essential tools needed for this task in a concise and understandable manner.


Chinese Translation of Global Navigation Satellite Systems, Inertial Navigation, and Integration 3rd Edition, 2015, Wiley & Sons     



“Global Navigation Satellite Systems (GNSS) Theory and Practice:  Evolution, State-of-Art, and Future Pathways,” Chapter 23, Volume I, Remote Sensing Handbook

           Dr. Prasad S. Thenkabail, Ph.D. ,Ed., CRC Press, Nov. 2015, pp.481-492,              ISBN9781482218015.


· Foreward (excerpt)

Written by leading and well accomplished remote sensing scientists of the world and competently edited by Prasad S. Thenkabail, this edition of the Remote Sensing Handbook (Vol. I, II, and III) is a compendium of information for many research areas of our Planet that have contributed to our substantial progress since the 1970s. The remote sensing community is now using multiple sources of satellite and in situ data to advance our studies… The chapters in the Remote Sensing Handbook provide many other specific studies on land, water, and other applications using Earth observation data of the last five decades…. Remote sensing is now important to a large number of scientific disciplines beyond our community and I recommend the Remote Sensing Handbook to not only remote sensers but to the entire scientific community."

– Taken from the foreword by Dr. Compton J. Tucker, Senior Earth Scientist, Earth Sciences Division, Science and Exploration Directorate, NASA Goddard Space Flight Center (GSFC)









Mohinder S. Grewal, Ph.D., P.E.

Professor, Department of Electrical Engineering

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Kalman Filtering: Theory and Practice with MATLAB, 4th Edition (1118851218) cover image