基于惯性导航的室内定位技术研究

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1、分类号TP393学号14063098ＵＤＣ密级公开工程硕士学位论文基于惯性导航的室内定位技术研究硕士生姓名刘帆学科专业软件工程研究方向普适计算指导教师刘东波研究员国防科学技术大学研究生院二〇一六年十一月StudyofIndoorPedestrianpositioningtechniquebasedonInertialNavigationCandidate：LiuFanAdvisor：LiuDongboAdissertationSubmittedinpartialfulfillmentoftherequirementsf

2、orthedegreeofMasterofSoftewareEngineeringGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha，Hunan，P.R.China（November，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..........................................................................................................ii第一章绪论......................................................................................................11.1课题的研究背景及其意义.................

4、............................................................11.2研究与发展现状.............................................................................................31.2.1室内定位相关技术..............................................................................31.2.2

5、基于惯性导航的室内定位技术..........................................................41.3本文的主要任务.............................................................................................6第二章基于扩展卡尔曼滤波的零速校正算法....................................................82.1引言.........

6、........................................................................................................82.2算法框架.........................................................................................................82.2.1扩展卡尔曼滤波................................

7、..................................................82.2.2定位算法基本框架............................................................................102.2.3零速校正算法....................................................................................122.3本章小结................

8、.......................................................................................14`第三章基于隐马尔可夫模型的静止区间检测算法.........................................153.1引言.......