I'm sorry ASFKAP, I don't want to sound patronising and I apologise in advance if this post sounds as though I'm trying to be - but there is maths and maths, you know.
What has been posted on the thread you quote is elementary geometry and trigonometry at about GCSE level - no higher. No problem with that, as long as it deals with the job in a satisfactory manner - and, for the particular topic under discussion, it did.
But I presume that what Lievers is looking for (he doesn't make it clear) is a suitable topic for a thesis at diploma or degree level. In that case we are looking at the differential equations involved in Schuler tuning, the matrix algebra involved in axis tranformation in strapdown systems, the state variables in Kalman filters, and so on. With the best will in the world, most of the stuff in pprune doesn't get anywhere near that. This is not a criticism - just horses for courses - it's not required.
However, the book I recommended DOES deal with maths at that level.