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一、数据说明：
1：惯导系统为指北方位的捷连系统。初始经度为116.344695283度、纬度为39.975172度,高度h为30米。
初速度为v0=[0.000048637 0.000206947 0.007106781]，飞行高度不变。
2：jlfw中为600秒的数据，陀螺仪和加速度计采样周期分别为为1/80秒和1/80秒。
3：初始姿态角为[0.120992605 0.010445947 91.637207]（俯仰，横滚，航向,单位为度）,
jlfw中保存的为比力信
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Nassar - Improving the Inertial Navigation System INS Error Model for INS and INS-DGPS-Nassar- Improving the Inertial Navigation System INS Error Model for INS and INS-DGPS
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Inertial Navigation System for Mobile Land vehicles
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惯性导航系统仿真试验研究及其详细的编程实现方法-Inertial navigation system and its simulation programming
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针对惯性导航系统的解算，往往各种误差导致解算结果并不理想，其中划船误差是里面的一种，资料里是研究划船误差效应补偿的很好参考资料，希望对算法研究者有所参考。-Inertial navigation system for solving, often lead to solving all kinds of errors the results are not satisfactory, which is inside the boat an error, data error is the stu
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Wiley global position system inertial navigation system and integration.equation of gps ins and some example of the combination
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Sistems inertial control Alg. Strapdown inertial navigation system
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Kalman Filtering design for Inertial Navigation System-Kalman Filtering design for Inertial Navigation System
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《Strapdown inertial navigation technology》全面系统地介绍了捷联惯导的基本原理与计算。-Strapdown inertial navigation technology， a comprehensive and systematic introduction to the basic principles of strapdown inertial navigation system and calculation.
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A LOW-COST GPS AIDED INERTIAL NAVIGATION SYSTEM FOR VEHICLE
APPLICATIONS
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捷联惯性导航系统、GPS/SINS组合导航系统仿真程序-Strapdown inertial navigation systems, GPS/SINS Integrated Navigation System Simulation Program
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利用静基座下惯性导航系统的误差方程，用matlab/simulink建立了惯导误差仿真模型-The use of static base under the inertial navigation system error equation, using matlab/simulink simulation model established the INS error
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GPS与惯性导航系统组成的组合导航系统仿真程序-GPS and inertial navigation system consisting of integrated navigation system simulation program
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惯性导航系统工具箱 能有效帮助仿真惯性导航系统-Inertial navigation system simulation toolbox can be effective in helping inertial navigation system
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An old but important paper in IEEE about two different approaches of inertial navigation system error modeling. it is not available in "IEEE Xplore", but I converted it from microfilm to PDF.
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解压后会有5M,这是我利用C#针对嵌入式WinCE做的一个GPS/惯性导航系统的组合定位软件，包括了卡尔曼滤波算法（含矩阵控件），界面显示，GPS串口接受，滤波结果输出以及WinCE应用调试控件，超强吧！直接下载可以在Visual.Net下调试使用 -After decompression there 5M, which I use C# for embedded WinCE do a GPS/inertial navigation system integrated positioning s
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This book constitutes an excellent source for understanding the basic operation of the Global Positioning Systems (GPS). It also allows the reader to take the first steps towards understanding how the Kalman Filter is implemented in the estimation of
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Inertial navigation system Kalman filter VC + + source code-Inertial navigation system Kalman filter VC++ source code
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ALLAN方差是阿兰发明的，在惯性导航中应用及其广泛，这篇论文在陀螺数据处理方面具有很好的方法-ALLAN Allan variance is the invention, in the inertial navigation system and its broad application, this thesis has a very good gyro data processing methods
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基于四元数法的捷联惯性导航系统姿态解算及正弦输入函数的生成-Quaternion-based strapdown inertial navigation system attitude solution and the generation of sinusoidal input function
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