Book:The Global Positioning System & Inertial Navigation by Jay A. Farrell &
Matthew Barth (UC riverside) copyright 1999
ISBN 0-07-022045-X McGraw-Hill 60$, Bevo 623.89'3-dc21, G109.5.F37 1998

Errata:
p.v section 5.7.1 --typo on "processing"
p.8 eq 1.8 --Should have equal sign between 1st and 2nd matrix as well as between the 2nd and 3rd.
p.9 eq 1.9 --Rightmost Vector should begin w/ a_sub_u, not a_sub_e.
p.9 eq 1.10 --Rightmost Vector, 3rd element, delete extra "+" sign
p.22 footnote --Suggest changing footnote to read "The earth's geoid is a hypothetical surface which is everywhere normal to the local gravity vector.  It's elliptical cross section results from the centrifugal force generated by the spinning earth." This information is in Sec.6.6.1, but it is very useful from this point on.
p.29 Tbl.2.1 e' = 0.08209443803685432 (given value is ~10 times too small)
p.39 eq 2.35 --in 1st matrix theta_sub_3's should be theta_sub_1's, in 3rd matrix theta_sub_one's should be theta_sub_3's
p.44 eq 2.56 --Correct as stated, but unnecesary confusion arises from the use of v_bold as a general vector when eq 2.55 & 2.57 use is as the time derivative of a general vector. Recommend changing v_bold in eq. 2.56 to r_bold.
p.60 eq 3.22 --First "+" should be "*"
p.67 eq 3.56 --Matrix F should be F(t)
p.77 eq 3.98 --w(t) should read w(lambda)
p.78 before eq 3.105 --3.99 and 3.104 should read 3.99 thru 3.104
p.88 Tbl.3.1 Residual calculation --1st y[k] should be y&~[k] (measurement)
p.88 Tbl.3.1 State prediction --x^+[k] should be x&^^+[k] (estimate)
p.90 eq 3.172 --missing time derivatives in second equation, add overdots.
p.90 eq 3.174 --Gammas should be Gs, continuous not discreet time input matrices
p.96 First sentence of section 4.1 is a dog.
p.97 Sec.4.1.1 First matrix fact (B.36) applies only to symmetric matrices
p.100 Just before eq 4.18 should read m+1 not n+1
p.172 text after eq 5.93 --suggest changing the 2nd line to read: "The position-space DGPS correction that is broadcast by the base to all roving receivers is -delta(x_hat)sub_zero."
p.191 eq 6.11 --in 1st matrix bottom component "nu_sub_E" should be nu_sub_D
p.193 1st line --should read "The rate of change of R_bold_sup_e" (add 2nd "of")
p.193 eq 6.21 --delete over_dot from v_bold_sub_e_over_dot
p.193 prior to eq 6.22 --"b=e, a=i" should read "a=e, b=i"
p.194 Sec.6.2.2.4 --2nd set of parenthesis, "nort" should be north
 (Section 6.2.2.[34] follow the poor usage of ECEF rectangular == "ECEF",
  while ECEF geodetic == "geodetic", this is ok where it creates no confusion)
p.194 eq 6.39 --add "superscript n" to Omega_sub_ne
p.195 Just below eq 6.45 --"determined as system" should be determined at system
p.196 eq 6.48 --in 1st matrix bottom component "nu_sub_E" should be nu_sub_D
p.199 Sec.6.4 1st paragraph at bottom --change "The error behavior of the basic INS states that is due" to "The error behavior of the basic INS states that are due"
p.200 eq 6.59 matrix component 2,3 --should be -(epsilon_sub_N)
p.201 just before eq 6.65 --should say right-hand side
p.201 below eq 6.71 after the word "and" --partial denominator should be lower case p not upper P
p.206 Sec.6.4.3.1 "(damping)" --Awkward uses of parenthesis for a useful point.
p.212 Sec.6.5 after "specification of a truth model --delete "as" enclose following in parenthesis "(necessary for covariance analysis)"
p.214 text prior to eq 6.105 --Change to "Using the fact that R_sub_a2p = Inverse[R_sub_p2a], direct multiplication yields"
p.215 text immediately prior to eq 6.109 --delete word "yields"
p.216 eq 6.116 --last term in each matrix row should be f_sub_u (3 places)
p.217 text prior to eq 6.123 --Similar to p.214. How about "Using R_sub_g2p = Inverse[R_sub_p2g] shows by direct multiplication"
p.217 text after eq 6.124 --change accelerometer-frame to gyro-frame
p.217 text before eq 6.126 --insert word "be" to read: "will be considered"
p.217 in eq 6.127 --replace delta_nl_sub_g with delta_k_sub_g
p.217 in eq 6.129 --replace delta_nl_sub_g with delta_k_sub_g
p.218 text after eq 6.130 --Intended reference is probably 18, not 118?
p.222 Tbl.6.3 --add digits omega_sub_ie(WGS-84)=7.2921151467E-5[r/s] according to Tbl.A.4; b = 6356752.3142 according to Sec.2.2.2; J_sub_2 is nowhere defined, probably should be defined in Tbl.A.4
p.226 eq 6.151 --1st operation should be multiply, not add
p.229 Sec.6.8.1.2 near bottom --after "z axis to" delete as
p.230 Bottom --should be 1 mrad per milli-g
p.234 Text before eq 6.170 --change redue to reduce
p.234 After eq 6.172 --change onobservable to unobservable

p.247 Sec.7.2.1 1st paragraph --change "converes" to "converges"
p.250 Sec.7.2.3 "account" for GPS delay in system model
p.254 in and prior to eq 7.24 --As a matrix phi_sub_i should be bold, and should have an explicit definition, is phi_sub_i == F_bold_sub_i? Same comments for eq 7.31 --variable phi_sub_a appears to properly be F_bold_sub_a
p.255 2nd paragraph after eq 7.31 --change "The is true" to "This is true"
p.258 after eq 7.33 --Reference should be to Chapter 5, not 6; also zeta not defined in chapter 5. nearest reference is to beta in eq 5.59 as "random measurement noise"
p.271 after eq 7.66 --change "of tau_sub_i: to "and tau_sub_i"; moreover this might be better as: "where tau_sub_M is on the order of minutes and tau_sub_i is on the order of hours"
p.281 Sec.7.6 last paragraph --recommend "The approach is still valid in the presence of vehicle maneuvers."

p.295 Table A.4 --b should read 6356752.3142[m] according to Sec.2.2.2; Include definition for WGS-84 parameter J_sub_2(see errata for p.222)
p.297 eq B.4 --notation "Cos(u_bold, v_bold)" is unclear
p.300 Explanation of singular-decomposition --should read "p >= i > d"
p.302 eq B.41 --one missing subscript, all P's on right hand side should be P_sub_one
p.302 eq B.42 --one missing inverse mark. Entire quantity in parenthesis on right hand side should be inversed
p.306 C.1.8 --change "cov" to "corr"
p.308 eq C.17 3rd line --differential missing from lambda, replace lambda with (d lambda)
p.311 eq C.39 numerator of argument to exponential --should be "-rho_squared"
p.316 Sec.D.2 corrector step --delete symbol "f"

p.331 Ref. 116 --Change the year in "IEEE Transactions on Aerospace & Electronic Systems, 10(4) 451-457, 1994" to "1974"
p.331 Ref. 116 --Change spelling of author to "Mortensen"