In regard to integration of satnav with IMU — my column in the current issue of GPSWorld has a critique of common practice for loose coupling — http://gpsworld.com/expert-advice-loose-coupling-and-whats-wrong-with-it/ In brief, if pseudo measurements must be accommodated (e.g., because of interface limitations), I strongly recommend using position only — not position and velocity. Velocity information is already implicit in position history; using both from a receiver’s 8 state EKF violates independence and obstructs aiding. Aiding the dynamics is the IMU’s job; allowing derived 8-state pseudovelocity to overrule it misrepresents current velocity as if it were equal to an average over some past period. That won’t be true when the velocity vector changes with time. Block diagrams showing 8-state pseudo velocity updating are seemingly everywhere — but real world behavior doesn’t depend on how we characterize it.