Easiest document for RNAV theory

[alexious85]

I find that theory behind RNAV once you get into details is one of the most confusing things in aviation .
Did you happen to find a document that explains the whole concept with plain simple words ?
A lot of the detailed documents I find are lengthy and complicated and you reach a point where you ask your self if it worth bothering at all .

[vapilot2004]

Are you referring to the VOR implementation? That was quite the bit of engineering and mathematical wonder for its day, although, if we go line by line, the math involved in a modern INS box must be a sight to behold as well.

[alexious85]

RNAV is that stuff after abandoning traditional aids such as VOR and NDBs

[Pugilistic Animus]

If you're under the FARs then the "Instrument Procedures Handbook" is the best source

[MD83FO]

Icao doc 9613

getting to grips with pbn

[alexious85]

thank you MD83FO (https://www.pprune.org/members/140036-md83fo)