Main references:

• J.M. Mendel, Lessons in Estimation Theory for Signal Processing, Communications and Control, Prentice Hall, Englewood Cliffs, New Jersey, 1995.
• A. Bjorck, Numerical Methods for Least Squares Problems, SIAM, Philadelphia, 1996.
• P. Misra and P. Enge, Global Positioning System, Signals, Measurements, and Performance, 2nd ed., Ganga-Jamuna Press, Lincoln, Massachusetts, 2006.

There are a few books which constitute useful supplementary material.

• T. Kailath, A.H. Sayed, and B. Hassibi, Linear Estimation, Prentice Hall, Upper Saddle River, NJ, 2000.
• P.J.G. Teunissen and A. Kleusberg (ed), GPS for Geodesy, 2nd ed., Springer-Verlag, New York, 1998.

We mainly use our lecture notes and some papers.