单兵自主导航算法优化及误差修正方法研究

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1、分类号TP666.1学号14030075ＵＤＣ密级公开工学硕士学位论文单兵自主导航算法优化及误差修正方法研究硕士生姓名陈昶昊学科专业控制科学与工程研究方向导航技术指导教师胡小平教授国防科学技术大学研究生院二〇一六年七月ResearchontheAlgorithmOptimizationofAutonomousIndividual-SoldierNavigationandDriftReductionMethodsCandidate：ChenChang-haoSupervisor：Prof.HuXiao-pingAdissertationSubm

2、ittedinpartialfulfillmentoftherequirementsforthedegreeofMasterofEngineeringinControlScienceandEngineeringGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha，Hunan，P.R.ChinaJuly，2016国防科学技术大学研究生院硕士学位论文目录摘要.............................................................

3、....................................................iABSTRACT........................................................................................................iii第一章绪论.....................................................................................................

4、...11.1研究背景和意义...............................................................................................11.2单兵导航技术发展现状................................................................................21.2.1步行导航模块发展现状.......................................................

5、.................31.2.2基于MIMU的行人导航技术发展.......................................................41.2.3多MIMU数据融合的行人导航技术发展...........................................61.2.4视觉辅助导航技术发展........................................................................61.3论文研究主要内容和组织结构.........

6、..............................................................7第二章单兵导航算法设计................................................................................102.1单兵导航解算原理..........................................................................................102.1.1捷联惯性导航原理..

7、.............................................................................102.1.2单兵导航航位推算原理......................................................................142.2单兵导航零速修正算法设计.........................................................................162.2.1卡尔曼滤波模型......

8、............................................................................162.2.