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<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/624f4fb76caf596192cf5ca8/bg1.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">1</div></div><div class="t m0 x3 h4 y3 ff2 fs1 fc0 sc1 ls0 ws0">捷联惯导算<span class="_ _0"></span>法与组合导航原<span class="_ _0"></span>理</div><div class="t m0 x4 h4 y4 ff2 fs1 fc0 sc1 ls0 ws0">讲义</div><div class="t m0 x5 h5 y5 ff2 fs2 fc0 sc1 ls0 ws0">严恭<span class="_ _0"></span>敏，翁浚<span class="_ _1"> </span>编著</div><div class="t m0 x6 h6 y6 ff2 fs3 fc0 sc1 ls0 ws0">西北工业大学</div><div class="t m0 x7 h7 y7 ff3 fs3 fc0 sc0 ls0 ws0">2016-9</div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>
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<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/624f4fb76caf596192cf5ca8/bg2.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">2</div></div><div class="t m0 x8 h8 y8 ff2 fs4 fc0 sc1 ls0 ws0">前<span class="_"> </span>言</div><div class="c x0 y9 w0 h9"><div class="t m0 x9 ha ya ff2 fs5 fc0 sc0 ls0 ws0">近年来，惯<span class="_ _0"></span>性技术不论在<span class="_ _0"></span>军事上、工业上<span class="_ _0"></span>，还是在民<span class="_ _0"></span>用上，特别是消费<span class="_ _0"></span>电子产品领<span class="_ _0"></span>域，都获得了广</div></div><div class="c x0 yb w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">泛的应用，<span class="_ _0"></span>大到潜艇、舰<span class="_ _0"></span>船、高铁、客<span class="_ _0"></span>机、导弹和<span class="_ _0"></span>人造卫星，小<span class="_ _0"></span>到医疗器械、电<span class="_ _0"></span>动独轮车、小<span class="_ _0"></span>型四旋翼</div></div><div class="c x0 yc w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">无人机、空中<span class="_ _0"></span>鼠标和手机<span class="_ _0"></span>，都有惯性技术<span class="_ _0"></span>存在甚至大显<span class="_ _0"></span>身手的身影。相应地<span class="_ _0"></span>，惯性技术的研<span class="_ _0"></span>究和开发也</div></div><div class="c x0 yd w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">获得前所未有<span class="_ _0"></span>的蓬勃发展<span class="_ _0"></span>，越来越多的高校<span class="_ _0"></span>学生、爱好者和<span class="_ _0"></span>工程技术人员加入<span class="_ _0"></span>到惯性技术的<span class="_ _0"></span>研发队伍中</div></div><div class="c x0 ye w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">来。</div></div><div class="c x0 yf w0 h9"><div class="t m0 x9 ha ya ff2 fs5 fc0 sc0 ls0 ws0">惯性技术涉<span class="_ _0"></span>及面广，<span class="_ _2"></span>涵盖元器件<span class="_ _0"></span>技术、<span class="_ _2"></span>测试设备和测试<span class="_ _0"></span>方法、<span class="_ _2"></span>系统集成技术和<span class="_ _0"></span>应用开发技术等<span class="_ _0"></span>方面，</div></div><div class="c x0 y10 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">囿于篇幅和<span class="_ _0"></span>作者知识面限<span class="_ _0"></span>制，<span class="_ _3"></span>本书主要讨<span class="_ _0"></span>论捷联惯导系<span class="_ _0"></span>统算法方面的<span class="_ _0"></span>有关问题，<span class="_ _3"></span>包<span class="_ _0"></span>括姿态算法基<span class="_ _0"></span>本理论、</div></div><div class="c x0 y11 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">捷联惯导更<span class="_ _0"></span>新算法与误<span class="_ _0"></span>差分析、组合导<span class="_ _0"></span>航卡尔曼滤<span class="_ _0"></span>波原理、捷联惯<span class="_ _0"></span>导系统的初始<span class="_ _0"></span>对准技术、组合导航系</div></div><div class="c x0 y12 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">统建模以及<span class="_ _0"></span>算法仿真等内<span class="_ _0"></span>容。希望读者参阅<span class="_ _0"></span>之后能够对捷<span class="_ _0"></span>联惯导算法<span class="_ _0"></span>有个系统而深<span class="_ _0"></span>入的理解，并能快速</div></div><div class="c x0 y13 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">而有效地将<span class="_ _0"></span>基本算法应用<span class="_ _0"></span>于解决实际问<span class="_ _0"></span>题。</div></div><div class="c x0 y14 w0 h9"><div class="t m0 x9 ha ya ff2 fs5 fc0 sc0 ls0 ws0">本书在编写<span class="_ _0"></span>和定稿过程中得<span class="_ _0"></span>到以下同行的<span class="_ _0"></span>热心支持，指出了不少<span class="_ _0"></span>错误之处或提出<span class="_ _0"></span>了许多宝贵的<span class="_ _0"></span>修改</div></div><div class="c x0 y15 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">建议，深表<span class="_ _0"></span>谢意：</div></div><div class="c x0 y16 w0 h9"><div class="t m0 x9 ha ya ff2 fs5 fc0 sc0 ls0 ws0">西北工业大<span class="_ _0"></span>学自动化学<span class="_ _0"></span>院：<span class="_ _4"></span>梅春波、<span class="_ _4"></span>赵彦明<span class="_ _0"></span>、<span class="_ _4"></span>刘洋、<span class="_ _4"></span>沈彦超、<span class="_ _4"></span>肖<span class="_ _0"></span>迅、<span class="_ _4"></span>牟夏、<span class="_ _4"></span>郑江涛、<span class="_ _4"></span>刘士明<span class="_ _0"></span>、<span class="_ _4"></span>金竹、</div></div><div class="c x0 y17 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">冯理成、赵<span class="_ _0"></span>雪华；航天科<span class="_ _0"></span>工第九总体设<span class="_ _0"></span>计部：王亚军<span class="_ _0"></span>；辽宁工程技<span class="_ _0"></span>术大学：丁伟；北京腾<span class="_ _0"></span>盛科技有限公</div></div><div class="c x0 y18 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">司：刘兴华<span class="_ _0"></span>；东南大学：<span class="_ _0"></span>童金武；中<span class="_ _0"></span>国农业大学：包<span class="_ _0"></span>建华；南京航<span class="_ _0"></span>空航天大学<span class="_ _0"></span>：赵宣懿；武<span class="_ _0"></span>汉大学：董</div></div><div class="c x0 y19 w0 h9"><div class="t m0 xa ha ya ff2 fs5 fc0 sc0 ls0 ws0">翠军；网友：<span class="_ _0"></span>Zoro；山东科<span class="_ _0"></span>技大学：王云<span class="_ _0"></span>鹏。</div></div><div class="c x0 y1a w0 h9"><div class="t m0 x9 ha ya ff2 fs5 fc0 sc0 ls0 ws0">书中缺点和错<span class="_ _0"></span>误在所难免<span class="_ _0"></span>，望读者不吝<span class="_ _0"></span>批评指正。</div></div><div class="c x0 y1b w0 h9"><div class="t m0 xb ha ya ff2 fs5 fc0 sc0 ls0 ws0">作<span class="_"> </span>者</div></div><div class="c x0 y1c w0 h9"><div class="t m0 xc ha ya ff2 fs5 fc0 sc0 ls0 ws0">2016<span class="_ _5"> </span>年<span class="_ _5"> </span>9<span class="_ _5"> </span>月</div></div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>
<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/624f4fb76caf596192cf5ca8/bg3.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">3</div></div><div class="t m0 xd h5 y1d ff2 fs2 fc0 sc1 ls0 ws0">目<span class="_ _1"> </span>录</div><div class="t m0 xa hb y1e ff2 fs6 fc0 sc1 ls0 ws0">第</div><div class="t m0 xe hc y1f ff3 fs6 fc0 sc0 ls0 ws0">1</div><div class="t m0 xf hb y1e ff2 fs6 fc0 sc1 ls0 ws0">章<span class="_ _6"> </span>概<span class="_"> </span>述</div><div class="t m0 x10 hc y1f ff4 fs6 fc0 sc0 ls0 ws0">................................................................................................................................<span class="_ _7"> </span><span class="ff3">6</span></div><div class="t m0 x9 ha y20 ff1 fs5 fc0 sc0 ls0 ws0">1.1<span class="_ _5"> </span><span class="ff2">捷联惯导<span class="_ _0"></span>算法简介<span class="ff5">.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _8"></span><span class="ff1">6</span></span></span></div><div class="t m0 x9 ha y21 ff1 fs5 fc0 sc0 ls0 ws0">1.2<span class="_ _9"> </span>Kalman<span class="_ _5"> </span><span class="ff2">滤波<span class="_ _0"></span>与组合导航原<span class="_ _0"></span>理简介<span class="ff5">..............................<span class="_ _4"></span>........................................<span class="_ _4"></span>...................................<span class="_ _0"></span><span class="ff1">7</span></span></span></div><div class="t m0 xa hb y22 ff2 fs6 fc0 sc1 ls0 ws0">第<span class="_ _9"> </span><span class="ff3 sc0">2<span class="_ _9"> </span></span>章<span class="_"> </span>捷联<span class="_ _0"></span>惯导姿态解算基<span class="_ _0"></span>础</div><div class="t m0 x11 hd y23 ff4 fs6 fc0 sc0 ls0 ws0">..................................................................................................</div><div class="t m0 x12 hc y22 ff3 fs6 fc0 sc0 ls0 ws0">10</div><div class="t m0 x9 ha y24 ff2 fs5 fc0 sc0 ls0 ws0">2.1<span class="_ _5"> </span>反对称阵<span class="_ _0"></span>及其矩阵指数<span class="_ _0"></span>函数<span class="ff5">........................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.........<span class="_ _a"></span><span class="ff1">10</span></span></div><div class="t m0 x13 ha y25 ff5 fs5 fc0 sc0 ls0 ws0">2.1.1<span class="_ _b"> </span><span class="ff2">反对称阵</span>.....................................<span class="_ _4"></span>.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...................10</div><div class="t m0 x13 ha y26 ff5 fs5 fc0 sc0 ls0 ws0">2.1.2<span class="_ _b"> </span><span class="ff2">反对称阵的矩<span class="_ _0"></span>阵指数函数<span class="_ _0"></span></span>....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>......<span class="_ _7"> </span>12</div><div class="t m0 x9 ha y27 ff2 fs5 fc0 sc0 ls0 ws0">2.2<span class="_ _5"> </span>方向余弦<span class="_ _0"></span>阵与等效旋转<span class="_ _0"></span>矢量<span class="ff5">........................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.........<span class="_ _a"></span><span class="ff1">13</span></span></div><div class="t m0 x13 ha y28 ff5 fs5 fc0 sc0 ls0 ws0">2.2.1<span class="_ _b"> </span><span class="ff2">方向余弦阵<span class="_ _0"></span></span>.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............................<span class="_ _7"> </span>13</div><div class="t m0 x13 ha y29 ff5 fs5 fc0 sc0 ls0 ws0">2.2.2<span class="_ _b"> </span><span class="ff2">等效旋转矢量<span class="_ _0"></span></span>....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........................<span class="_ _7"> </span>14</div><div class="t m0 x9 ha y2a ff2 fs5 fc0 sc0 ls0 ws0">2.3<span class="_ _5"> </span>方向余弦<span class="_ _0"></span>阵微分方程及<span class="_ _0"></span>其求解<span class="ff5">.................................<span class="_ _4"></span>........................................<span class="_ _4"></span>....................................<span class="_ _8"></span><span class="ff1">17</span></span></div><div class="t m0 x13 ha y2b ff5 fs5 fc0 sc0 ls0 ws0">2.3.1<span class="_ _b"> </span><span class="ff2">方向余弦阵微<span class="_ _0"></span>分方程</span>.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.....................................<span class="_ _c"> </span>17</div><div class="t m0 x13 ha y2c ff5 fs5 fc0 sc0 ls0 ws0">2.3.2<span class="_ _b"> </span><span class="ff2">方向余弦阵微<span class="_ _0"></span>分方程的求解<span class="_ _0"></span></span>...................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="_ _c"> </span>17</div><div class="t m0 x9 ha y2d ff2 fs5 fc0 sc0 ls0 ws0">2.4<span class="_ _5"> </span>姿态更新<span class="_ _0"></span>的四元数表示<span class="_ _0"></span><span class="ff5">................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.........................<span class="_ _a"></span><span class="ff1">20</span></span></div><div class="t m0 x13 ha y2e ff5 fs5 fc0 sc0 ls0 ws0">2.4.1<span class="_ _b"> </span><span class="ff2">四元数的基本<span class="_ _0"></span>概念</span>............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........<span class="_ _7"> </span>20</div><div class="t m0 x13 ha y2f ff5 fs5 fc0 sc0 ls0 ws0">2.4.2<span class="_ _b"> </span><span class="ff2">四元数微分方<span class="_ _0"></span>程</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _7"> </span>23</div><div class="t m0 x13 ha y30 ff5 fs5 fc0 sc0 ls0 ws0">2.4.3<span class="_ _b"> </span><span class="ff2">四元数微分方<span class="_ _0"></span>程的求解</span>....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................................<span class="_ _c"> </span>25</div><div class="t m0 x9 ha y31 ff2 fs5 fc0 sc0 ls0 ws0">2.5<span class="_ _5"> </span>等效旋转<span class="_ _0"></span>矢量微分方程<span class="_ _0"></span>及其泰勒级数解<span class="_ _0"></span><span class="ff5">........................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............................<span class="_ _0"></span><span class="ff1">26</span></span></div><div class="t m0 x13 ha y32 ff5 fs5 fc0 sc0 ls0 ws0">2.5.1<span class="_ _b"> </span><span class="ff2">等效旋转矢量<span class="_ _0"></span>微分方程</span>....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................................<span class="_ _c"> </span>26</div><div class="t m0 x13 ha y33 ff5 fs5 fc0 sc0 ls0 ws0">2.5.2<span class="_ _b"> </span><span class="ff2">等效旋转矢量<span class="_ _0"></span>微分方程的泰<span class="_ _0"></span>勒级数解</span>...................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...........<span class="_ _d"> </span>29</div><div class="t m0 x9 ha y34 ff2 fs5 fc0 sc0 ls0 ws0">2.6<span class="_ _5"> </span>圆锥运动<span class="_ _0"></span>条件下的等效<span class="_ _0"></span>旋转矢量算法<span class="ff5">........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.................<span class="_ _8"></span><span class="ff1">31</span></span></div><div class="t m0 x13 ha y35 ff5 fs5 fc0 sc0 ls0 ws0">2.6.1<span class="_ _b"> </span><span class="ff2">圆锥运动的描<span class="_ _0"></span>述</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _7"> </span>31</div><div class="t m0 x13 ha y36 ff5 fs5 fc0 sc0 ls0 ws0">2.6.2<span class="_ _b"> </span><span class="ff2">圆锥误差补偿<span class="_ _0"></span>算法</span>............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........<span class="_ _7"> </span>33</div><div class="t m0 xa hb y37 ff2 fs6 fc0 sc1 ls0 ws0">第<span class="_ _9"> </span><span class="ff3 sc0">3<span class="_ _9"> </span></span>章<span class="_"> </span>地球<span class="_ _0"></span>形状与重力场基<span class="_ _0"></span>础</div><div class="t m0 x11 hd y38 ff4 fs6 fc0 sc0 ls0 ws0">..................................................................................................</div><div class="t m0 x12 hc y37 ff3 fs6 fc0 sc0 ls0 ws0">40</div><div class="t m0 x9 ha y39 ff1 fs5 fc0 sc0 ls0 ws0">3.1<span class="_ _5"> </span><span class="ff2">地球的形<span class="_ _0"></span>状描述<span class="ff5">...............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.......................<span class="ff1">40</span></span></span></div><div class="t m0 x9 ha y3a ff1 fs5 fc0 sc0 ls0 ws0">3.2<span class="_ _5"> </span><span class="ff2">地球的正<span class="_ _0"></span>常重力场<span class="ff5">.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........<span class="_ _5"> </span><span class="ff1">46</span></span></span></div><div class="t m0 x9 ha y3b ff1 fs5 fc0 sc0 ls0 ws0">3.3<span class="_ _5"> </span><span class="ff2">地球重力<span class="_ _0"></span>场的球谐函数<span class="_ _0"></span>模型<span class="ff5">...............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..<span class="_ _7"> </span><span class="ff1">50</span></span></span></div><div class="t m0 x13 ha y3c ff5 fs5 fc0 sc0 ls0 ws0">3.3.1<span class="_ _b"> </span><span class="ff2">球谐函数的基<span class="_ _0"></span>本概念</span>.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.....................................<span class="_ _c"> </span>50</div><div class="t m0 x13 ha y3d ff5 fs5 fc0 sc0 ls0 ws0">3.3.2<span class="_ _b"> </span><span class="ff2">地球引力位函<span class="_ _0"></span>数</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _7"> </span>58</div><div class="t m0 x13 ha y3e ff5 fs5 fc0 sc0 ls0 ws0">3.3.3<span class="_ _b"> </span><span class="ff2">重力位及重力<span class="_ _0"></span>计算</span>............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........<span class="_ _7"> </span>63</div><div class="t m0 xa hb y3f ff2 fs6 fc0 sc1 ls0 ws0">第</div><div class="t m0 xe hc y40 ff3 fs6 fc0 sc0 ls0 ws0">4</div><div class="t m0 xf hb y3f ff2 fs6 fc0 sc1 ls0 ws0">章<span class="_ _6"> </span>捷联惯导更新算<span class="_ _0"></span>法及误差分<span class="_ _0"></span>析</div><div class="t m0 x14 hc y40 ff4 fs6 fc0 sc0 ls0 ws0">....................................................................................<span class="_ _a"></span><span class="ff3">69</span></div><div class="t m0 x9 ha y41 ff2 fs5 fc0 sc0 ls0 ws0">4.1<span class="_ _5"> </span>捷联惯导<span class="_ _0"></span>数值更新算法<span class="_ _0"></span><span class="ff5">................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.........................<span class="_ _a"></span><span class="ff1">69</span></span></div><div class="t m0 x13 ha y42 ff5 fs5 fc0 sc0 ls0 ws0">4.1.1<span class="_ _b"> </span><span class="ff2">姿态更新算法<span class="_ _0"></span></span>....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........................<span class="_ _7"> </span>69</div><div class="t m0 x13 ha y43 ff5 fs5 fc0 sc0 ls0 ws0">4.1.2<span class="_ _b"> </span><span class="ff2">速度更新算法<span class="_ _0"></span></span>....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........................<span class="_ _7"> </span>70</div><div class="t m0 x13 ha y44 ff5 fs5 fc0 sc0 ls0 ws0">4.1.3<span class="_ _b"> </span><span class="ff2">位置更新算法<span class="_ _0"></span></span>....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........................<span class="_ _7"> </span>76</div><div class="t m0 x9 ha y45 ff2 fs5 fc0 sc0 ls0 ws0">4.2<span class="_ _5"> </span>捷联惯导<span class="_ _0"></span>误差方程<span class="ff5">.................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>................<span class="_ _d"> </span><span class="ff1">76</span></span></div><div class="t m0 x13 ha y46 ff5 fs5 fc0 sc0 ls0 ws0">4.2.1<span class="_ _5"> </span><span class="ff2">惯性传感<span class="_ _0"></span>器测量误差<span class="_ _0"></span></span>.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..............<span class="_ _7"> </span>76</div><div class="t m0 x13 ha y47 ff5 fs5 fc0 sc0 ls0 ws0">4.2.2<span class="_ _5"> </span><span class="ff2">姿态误差<span class="_ _0"></span>方程</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................<span class="_ _5"> </span>78</div><div class="t m0 x13 ha y48 ff5 fs5 fc0 sc0 ls0 ws0">4.2.3<span class="_ _5"> </span><span class="ff2">速度误差<span class="_ _0"></span>方程</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................<span class="_ _5"> </span>79</div><div class="t m0 x13 ha y49 ff5 fs5 fc0 sc0 ls0 ws0">4.2.4<span class="_ _5"> </span><span class="ff2">位置误差<span class="_ _0"></span>方程</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................<span class="_ _5"> </span>79</div><div class="t m0 x13 ha y4a ff5 fs5 fc0 sc0 ls0 ws0">4.2.5<span class="_ _5"> </span><span class="ff2">误差方程<span class="_ _0"></span>的整理</span>......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.....<span class="_ _5"> </span>80</div><div class="t m0 x9 ha y4b ff2 fs5 fc0 sc0 ls0 ws0">4.3<span class="_ _5"> </span>静基座误<span class="_ _0"></span>差特性分析<span class="_ _0"></span><span class="ff5">.................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>............................<span class="_ _a"></span><span class="ff1">82</span></span></div><div class="t m0 x13 ha y4c ff5 fs5 fc0 sc0 ls0 ws0">4.3.1<span class="_ _b"> </span><span class="ff2">静基座误差方<span class="_ _0"></span>程</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _7"> </span>82</div><div class="t m0 x13 ha y4d ff5 fs5 fc0 sc0 ls0 ws0">4.3.2<span class="_ _b"> </span><span class="ff2">高度通道</span>.....................................<span class="_ _4"></span>.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...................83</div><div class="t m0 x13 ha y4e ff5 fs5 fc0 sc0 ls0 ws0">4.3.3<span class="_ _b"> </span><span class="ff2">水平通道</span>.....................................<span class="_ _4"></span>.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...................83</div><div class="t m0 x13 ha y4f ff5 fs5 fc0 sc0 ls0 ws0">4.3.4<span class="_ _b"> </span><span class="ff2">水平通道的简<span class="_ _0"></span>化</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _7"> </span>88</div><div class="t m0 x13 ha y50 ff5 fs5 fc0 sc0 ls0 ws0">4.3.5<span class="_ _b"> </span><span class="ff2">水平通道误差<span class="_ _0"></span>方程的仿真<span class="_ _0"></span></span>....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>......<span class="_ _c"> </span>90</div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a 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<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/624f4fb76caf596192cf5ca8/bg4.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">4</div></div><div class="t m0 xa hb y51 ff2 fs6 fc0 sc1 ls0 ws0">第</div><div class="t m0 xe hc y52 ff3 fs6 fc0 sc0 ls0 ws0">5</div><div class="t m0 xf hb y51 ff2 fs6 fc0 sc1 ls0 ws0">章<span class="_"> </span>卡尔曼滤<span class="_ _0"></span>波基本理论</div><div class="t m0 x15 hc y52 ff4 fs6 fc0 sc0 ls0 ws0">......................................................................................................<span class="_ _a"> </span><span class="ff3">92</span></div><div class="t m0 x9 ha y53 ff2 fs5 fc0 sc0 ls0 ws0">5.1<span class="_ _5"> </span>递推最小<span class="_ _0"></span>二乘法<span class="ff5">..................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...................<span class="_ _d"> </span><span class="ff1">92</span></span></div><div class="t m0 x9 ha y54 ff2 fs5 fc0 sc0 ls0 ws0">5.2<span class="_"> </span>Kal<span class="_ _0"></span>man<span class="_ _5"> </span>滤波方程的推<span class="_ _0"></span>导<span class="ff5">.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................<span class="_ _a"></span><span class="ff1">94</span></span></div><div class="t m0 x9 ha y55 ff2 fs5 fc0 sc0 ls0 ws0">5.3<span class="_ _5"> </span>连续时间<span class="_ _0"></span>随机系统的离<span class="_ _0"></span>散化与连续时间<span class="_ _9"> </span>Kalman<span class="_ _5"> </span>滤波<span class="ff5">.....................................<span class="_ _4"></span>...............................<span class="_ _d"> </span><span class="ff1">101</span></span></div><div class="t m0 x9 ha y56 ff2 fs5 fc0 sc0 ls0 ws0">5.4<span class="_ _5"> </span>噪声相关<span class="_ _0"></span>条件下的<span class="_ _5"> </span>Ka<span class="_ _0"></span>lman<span class="_ _5"> </span>滤波<span class="ff5">....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............................<span class="ff1">107</span></span></div><div class="t m0 x9 ha y57 ff2 fs5 fc0 sc0 ls0 ws0">5.5<span class="_ _5"> </span>序贯滤波<span class="_ _0"></span><span class="ff5">.................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.......<span class="_ _0"></span><span class="ff1">1<span class="_ _4"></span>1<span class="_ _e"></span>1</span></span></div><div class="t m0 x9 ha y58 ff2 fs5 fc0 sc0 ls0 ws0">5.6<span class="_ _5"> </span>信息滤波<span class="_ _0"></span>与信息融合<span class="_ _0"></span><span class="ff5">.................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..........................<span class="_ _a"> </span><span class="ff1">1<span class="_ _4"></span>14</span></span></div><div class="t m0 x9 ha y59 ff2 fs5 fc0 sc0 ls0 ws0">5.7<span class="_ _5"> </span>平方根滤<span class="_ _0"></span>波<span class="ff5">..........................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.................................<span class="_ _d"> </span><span class="ff1">1<span class="_ _e"></span>16</span></span></div><div class="t m0 x9 ha y5a ff2 fs5 fc0 sc0 ls0 ws0">5.8<span class="_ _5"> </span>遗忘滤波<span class="_ _0"></span><span class="ff5">.................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>......<span class="_ _a"> </span><span class="ff1">124</span></span></div><div class="t m0 x9 ha y5b ff2 fs5 fc0 sc0 ls0 ws0">5.9<span class="_"> </span><span class="ff1">Sage-Hu<span class="_ _0"></span>sa<span class="_ _5"> </span></span>自适应滤<span class="_ _0"></span>波<span class="ff5">.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........<span class="_ _0"></span><span class="ff1">125</span></span></div><div class="t m0 x9 ha y5c ff2 fs5 fc0 sc0 ls0 ws0">5.10<span class="_ _5"> </span>最优平滑<span class="_ _0"></span>算法<span class="ff5">.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................<span class="_ _f"></span><span class="ff1">127</span></span></div><div class="t m0 x9 ha y5d ff2 fs5 fc0 sc0 ls0 ws0">5.11<span class="_ _5"> </span>非线性系<span class="_ _0"></span>统的<span class="_ _5"> </span>EKF<span class="_ _5"> </span>滤波<span class="_ _0"></span>、二阶滤波与<span class="_ _0"></span>迭代滤波<span class="ff5">...................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.<span class="_ _7"> </span><span class="ff1">130</span></span></div><div class="t m0 x9 ha y5e ff2 fs5 fc0 sc0 ls0 ws0">5.12<span class="_ _5"> </span>间接滤波<span class="_ _0"></span>与滤波校正<span class="_ _0"></span><span class="ff5">.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>....................<span class="_ _0"></span><span class="ff1">136</span></span></div><div class="t m0 x9 ha y5f ff2 fs5 fc0 sc0 ls0 ws0">5.13<span class="_ _5"> </span>联邦滤波<span class="_ _0"></span>（待完善）<span class="_ _0"></span><span class="ff5">.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>....................<span class="_ _0"></span><span class="ff1">136</span></span></div><div class="t m0 x9 ha y60 ff2 fs5 fc0 sc0 ls0 ws0">5.14<span class="_ _5"> </span>滤波的稳<span class="_ _0"></span>定性与可观测<span class="_ _0"></span>度分析<span class="ff5">.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>............................<span class="ff1">141</span></span></div><div class="t m0 xa hb y61 ff2 fs6 fc0 sc1 ls0 ws0">第<span class="_ _9"> </span><span class="ff3 sc0">6<span class="_ _9"> </span></span>章<span class="_ _6"> </span>初始对准<span class="_ _0"></span>及组合导航技术</div><div class="t m0 x16 hd y62 ff4 fs6 fc0 sc0 ls0 ws0">..........................................................................................</div><div class="t m0 x17 hc y61 ff3 fs6 fc0 sc0 ls0 ws0">147</div><div class="t m0 x9 ha y63 ff2 fs5 fc0 sc0 ls0 ws0">6.1<span class="_ _5"> </span>捷联惯导<span class="_ _0"></span>粗对准<span class="ff5">..................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.................<span class="_ _f"></span><span class="ff1">147</span></span></div><div class="t m0 x13 ha y64 ff5 fs5 fc0 sc0 ls0 ws0">6.1.1<span class="_ _5"> </span><span class="ff2">矢量定姿<span class="_ _0"></span>原理</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>................<span class="_ _7"> </span>1<span class="_ _0"></span>47</div><div class="t m0 x13 ha y65 ff5 fs5 fc0 sc0 ls0 ws0">6.1.2<span class="_ _5"> </span><span class="ff2">解析粗对<span class="_ _0"></span>准方法</span>......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="_ _7"> </span>1<span class="_ _0"></span>49</div><div class="t m0 x13 ha y66 ff5 fs5 fc0 sc0 ls0 ws0">6.1.3<span class="_ _5"> </span><span class="ff2">间接粗对<span class="_ _0"></span>准方法</span>......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="_ _7"> </span>1<span class="_ _0"></span>52</div><div class="t m0 x9 ha y67 ff2 fs5 fc0 sc0 ls0 ws0">6.2<span class="_ _5"> </span>捷联惯导<span class="_ _0"></span>精对准<span class="ff5">..................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.................<span class="_ _f"></span><span class="ff1">153</span></span></div><div class="t m0 x9 ha y68 ff2 fs5 fc0 sc0 ls0 ws0">6.3<span class="_ _5"> </span>惯性/卫星<span class="_ _0"></span>组合导航<span class="ff5">.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........<span class="_ _f"></span><span class="ff1">157</span></span></div><div class="t m0 x13 ha y69 ff5 fs5 fc0 sc0 ls0 ws0">6.3.1<span class="_ _5"> </span><span class="ff2">空间杆臂<span class="_ _0"></span>误差</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>................<span class="_ _7"> </span>1<span class="_ _0"></span>57</div><div class="t m0 x13 ha y6a ff5 fs5 fc0 sc0 ls0 ws0">6.3.2<span class="_ _5"> </span><span class="ff2">时间不同<span class="_ _0"></span>步误差</span>......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="_ _7"> </span>1<span class="_ _0"></span>58</div><div class="t m0 x13 ha y6b ff5 fs5 fc0 sc0 ls0 ws0">6.3.3<span class="_ _5"> </span><span class="ff2">状态空间<span class="_ _0"></span>模型</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>................<span class="_ _7"> </span>1<span class="_ _0"></span>59</div><div class="t m0 x9 ha y6c ff2 fs5 fc0 sc0 ls0 ws0">6.4<span class="_ _5"> </span>车载惯性<span class="_ _0"></span>/里程仪组合导<span class="_ _0"></span>航<span class="ff5">.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>....<span class="_ _0"></span><span class="ff1">159</span></span></div><div class="t m0 x13 ha y6d ff5 fs5 fc0 sc0 ls0 ws0">6.4.1<span class="_ _5"> </span><span class="ff2">航位推算<span class="_ _0"></span>算法</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>................<span class="_ _7"> </span>1<span class="_ _0"></span>59</div><div class="t m0 x13 ha y6e ff5 fs5 fc0 sc0 ls0 ws0">6.4.2<span class="_ _5"> </span><span class="ff2">航位推算<span class="_ _0"></span>误差分析</span>.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _c"> </span>161</div><div class="t m0 x13 ha y6f ff5 fs5 fc0 sc0 ls0 ws0">6.4.3<span class="_ _5"> </span><span class="ff2">惯性</span>/<span class="ff2">里程<span class="_ _0"></span>仪组合</span>.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="_ _7"> </span>164</div><div class="t m0 x9 ha y70 ff2 fs5 fc0 sc0 ls0 ws0">6.5<span class="_ _5"> </span>低成本姿<span class="_ _0"></span>态航向参考系<span class="_ _0"></span>统（AHRS）<span class="_ _0"></span><span class="ff5">................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="ff1">167</span></span></div><div class="t m0 x13 ha y71 ff5 fs5 fc0 sc0 ls0 ws0">6.5.1<span class="_ _5"> </span><span class="ff2">简化的惯<span class="_ _0"></span>导算法及误差<span class="_ _0"></span>方程</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>................................<span class="_ _d"> </span>168</div><div class="t m0 x13 ha y72 ff5 fs5 fc0 sc0 ls0 ws0">6.5.2<span class="_ _5"> </span><span class="ff2">地磁场测<span class="_ _0"></span>量及误差方程<span class="_ _0"></span></span>.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........<span class="_ _7"> </span>169</div><div class="t m0 x13 ha y73 ff5 fs5 fc0 sc0 ls0 ws0">6.5.3<span class="_ _5"> </span><span class="ff2">低成本组<span class="_ _0"></span>合导航系统模<span class="_ _0"></span>型</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>....................................<span class="_ _d"> </span>170</div><div class="t m0 x13 ha y74 ff5 fs5 fc0 sc0 ls0 ws0">6.5.4<span class="_ _5"> </span><span class="ff2">低成本惯<span class="_ _0"></span>导的姿态初始<span class="_ _0"></span>化</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>....................................<span class="_ _d"> </span>171</div><div class="t m0 x13 ha y75 ff5 fs5 fc0 sc0 ls0 ws0">6.5.5<span class="_ _5"> </span><span class="ff2">捷联式地<span class="_ _0"></span>平仪的工作原<span class="_ _0"></span>理</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>....................................<span class="_ _d"> </span>173</div><div class="t m0 xa hb y76 ff2 fs6 fc0 sc1 ls0 ws0">第</div><div class="t m0 xe hc y77 ff3 fs6 fc0 sc0 ls0 ws0">7</div><div class="t m0 xf hb y76 ff2 fs6 fc0 sc1 ls0 ws0">章<span class="_"> </span>捷联惯导<span class="_ _0"></span>与组合导航<span class="_ _0"></span>仿真</div><div class="t m0 x18 hc y77 ff4 fs6 fc0 sc0 ls0 ws0">............................................................................................<span class="_ _0"></span><span class="ff3">17<span class="_ _0"></span>6</span></div><div class="t m0 x9 ha y78 ff1 fs5 fc0 sc0 ls0 ws0">7.1<span class="_ _5"> </span><span class="ff2">飞行轨迹<span class="_ _0"></span>和惯性器件信<span class="_ _0"></span>息仿真<span class="ff5">..............................<span class="_ _4"></span>........................................<span class="_ _4"></span>.....................................<span class="_ _a"></span><span class="ff1">176</span></span></span></div><div class="t m0 x13 ha y79 ff5 fs5 fc0 sc0 ls0 ws0">7.1.1<span class="_ _5"> </span><span class="ff2">飞行轨迹<span class="_ _0"></span>设计</span>.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>................<span class="_ _7"> </span>1<span class="_ _0"></span>76</div><div class="t m0 x13 ha y7a ff5 fs5 fc0 sc0 ls0 ws0">7.1.2<span class="_ _b"> </span><span class="ff2">捷联惯导反演<span class="_ _0"></span>算法</span>............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........<span class="_ _7"> </span>177</div><div class="t m0 x13 ha y7b ff5 fs5 fc0 sc0 ls0 ws0">7.1.3<span class="_ _b"> </span><span class="ff2">仿真</span>............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.................................178</div><div class="t m0 x9 ha y7c ff1 fs5 fc0 sc0 ls0 ws0">7.2<span class="_ _5"> </span><span class="ff2">捷联惯导<span class="_ _0"></span>仿真<span class="ff5">...............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................<span class="_ _c"> </span><span class="ff1">180</span></span></span></div><div class="t m0 x13 ha y7d ff5 fs5 fc0 sc0 ls0 ws0">7.2.1<span class="_ _5"> </span>Matla<span class="_ _0"></span>b<span class="_ _5"> </span><span class="ff2">子函数</span>..............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...............<span class="_ _d"> </span>180</div><div class="t m0 x13 ha y7e ff5 fs5 fc0 sc0 ls0 ws0">7.2.2<span class="_ _5"> </span><span class="ff2">捷联惯导<span class="_ _0"></span>仿真主程序<span class="_ _0"></span></span>.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>............<span class="_ _7"> </span>185</div><div class="t m0 x9 ha y7f ff1 fs5 fc0 sc0 ls0 ws0">7.3<span class="_ _5"> </span><span class="ff2">惯导</span>/<span class="ff2">卫星<span class="_ _0"></span>组合导航仿真<span class="_ _0"></span><span class="ff5">......................<span class="_ _4"></span>.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.................<span class="_ _a"> </span><span class="ff1">186</span></span></span></div><div class="t m0 x13 ha y80 ff5 fs5 fc0 sc0 ls0 ws0">7.3.1Matlab<span class="_ _9"> </span><span class="ff2">子函数</span>................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..............<span class="_ _d"> </span>186</div><div class="t m0 x13 ha y81 ff5 fs5 fc0 sc0 ls0 ws0">7.3.2<span class="_ _5"> </span><span class="ff2">组合导航<span class="_ _0"></span>仿真主程序<span class="_ _0"></span></span>.....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>............<span class="_ _7"> </span>187</div><div class="t m0 xa hb y82 ff2 fs6 fc0 sc1 ls0 ws0">附<span class="_"> </span>录</div><div class="t m0 x19 hd y83 ff4 fs6 fc0 sc0 ls0 ws0">............................................................................................................................................</div><div class="t m0 x17 hc y82 ff3 fs6 fc0 sc0 ls0 ws0">190</div><div class="t m0 x9 ha y84 ff2 fs5 fc0 sc0 ls0 ws0">A<span class="_ _5"> </span>一些重要<span class="_ _0"></span>的三维矢量运<span class="_ _0"></span>算关系<span class="ff5">........................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.......<span class="_ _0"></span><span class="ff1">190</span></span></div><div class="t m0 x9 ha y85 ff2 fs5 fc0 sc0 ls0 ws0">B<span class="_"> </span>运载体姿<span class="_ _0"></span>态的欧拉角描<span class="_ _0"></span>述<span class="ff5">...................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...................<span class="_ _0"></span><span class="ff1">192</span></span></div><div class="t m0 x9 ha y86 ff2 fs5 fc0 sc0 ls0 ws0">C<span class="_"> </span>姿态更新<span class="_ _0"></span>的毕卡算法、<span class="_ _0"></span>龙格—库塔算法<span class="_ _0"></span>及精确数值解<span class="_ _0"></span>法<span class="ff5">..........................<span class="_ _4"></span>.......................................<span class="_ _d"> </span><span class="ff1">199</span></span></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' 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<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/624f4fb76caf596192cf5ca8/bg5.jpg"><div class="c x1 y1 w2 h2"><div class="t m0 x2 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">5</div></div><div class="t m0 x9 ha y87 ff2 fs5 fc0 sc0 ls0 ws0">D<span class="_"> </span>从非直角<span class="_ _0"></span>坐标系到直角<span class="_ _0"></span>坐标系的矩阵<span class="_ _0"></span>变换<span class="ff5">...........................<span class="_ _4"></span>........................................<span class="_ _4"></span>......................<span class="_ _7"> </span><span class="ff1">207</span></span></div><div class="t m0 x9 ha y88 ff2 fs5 fc0 sc0 ls0 ws0">E<span class="_"> </span>线性系统<span class="_ _0"></span>基本理论<span class="ff5">.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _d"> </span><span class="ff1">21<span class="_ _4"></span>1</span></span></div><div class="t m0 x9 ha y89 ff2 fs5 fc0 sc0 ls0 ws0">F<span class="_"> </span>加权最小<span class="_ _0"></span>二乘估计<span class="ff5">.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _f"></span><span class="ff1">216</span></span></div><div class="t m0 x9 ha y8a ff2 fs5 fc0 sc0 ls0 ws0">G<span class="_"> </span>矩阵求逆<span class="_ _0"></span>引理<span class="ff5">.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............................<span class="_ _f"></span><span class="ff1">217</span></span></div><div class="t m0 x9 ha y8b ff2 fs5 fc0 sc0 ls0 ws0">H<span class="_"> </span>几种矩阵<span class="_ _0"></span>分解方法（QR<span class="_ _0"></span>、Cholesky<span class="_ _5"> </span>与<span class="_ _9"> </span>UD）<span class="ff5">........................<span class="_ _4"></span>........................................<span class="_ _4"></span>.......................<span class="_ _7"> </span><span class="ff1">219</span></span></div><div class="t m0 x9 ha y8c ff2 fs5 fc0 sc0 ls0 ws0">I<span class="_"> </span>二阶滤波<span class="_ _0"></span>中的引理证明<span class="_ _0"></span><span class="ff5">....................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>......................<span class="_ _0"></span><span class="ff1">223</span></span></div><div class="t m0 x9 ha y8d ff2 fs5 fc0 sc0 ls0 ws0">J<span class="_"> </span>方差阵上<span class="_ _0"></span>界的证明<span class="ff5">.....................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>.............<span class="_ _f"></span><span class="ff1">225</span></span></div><div class="t m0 x9 ha y8e ff2 fs5 fc0 sc0 ls0 ws0">K<span class="_"> </span>三阶非奇<span class="_ _0"></span>异方阵的奇异<span class="_ _0"></span>值分解<span class="ff5">...........................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>...<span class="_ _0"></span><span class="ff1">226</span></span></div><div class="t m0 x9 ha y8f ff2 fs5 fc0 sc0 ls0 ws0">L<span class="_"> </span>Mat<span class="_ _0"></span>lab<span class="_ _5"> </span>仿真程序<span class="ff5">.............................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................................<span class="_ _4"></span>........................<span class="_ _f"></span><span class="ff1">231</span></span></div><div class="t m0 x9 ha y90 ff2 fs5 fc0 sc0 ls0 ws0">M<span class="_"> </span>练习题<span class="ff5">.....................................<span class="_ _4"></span>.......................................<span class="_ _4"></span>........................................<span class="_ _4"></span>..................................<span class="_ _a"></span><span class="ff1">237</span></span></div><div class="t m0 xa hb y91 ff2 fs6 fc0 sc1 ls0 ws0">参考文献<span class="ff4 sc0">......................................................................................................................................<span class="_ _d"> </span><span class="ff3">24<span class="_ _0"></span>1</span></span></div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>
