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1、分類號U666.11學(xué)號14033030ＵＤＣ000密級公開工學(xué)碩士學(xué)位論文多狀態(tài)多視圖約束視覺/慣性組合導(dǎo)航算法研究碩士生姓名文坤學(xué)科專業(yè)控制科學(xué)與工程研究方向?qū)Ш郊夹g(shù)指導(dǎo)教師吳文啟教授國防科學(xué)技術(shù)大學(xué)研究生院二〇一六年十一月ResearchonMulti-StateandMulti-ViewConstraintAlgorithmsforVision/InertialIntegratedNavigationCandidate：WenKunAdvisor：Prof.WuWenqiAdissertationSubmittedinpar
2、tialfulfillmentoftherequirementsforthedegreeofMasterofEngineeringinControlScienceandEngineeringGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha，Hunan，P.R.China（November，2016）國防科學(xué)技術(shù)大學(xué)研究生院碩士學(xué)位論文目錄摘要............................................................
3、.....................................................iABSTRACT.........................................................................................................ii第一章緒論...............................................................................................
4、.......11.1研究背景...........................................................................................................11.2研究現(xiàn)狀...........................................................................................................21.2.1慣性輔助獲取圖像尺度信息問題研究現(xiàn)狀........
5、.................................31.2.2視覺/慣性組合導(dǎo)航算法研究現(xiàn)狀........................................................31.2.3多狀態(tài)/多視圖約束算法研究現(xiàn)狀........................................................51.3研究內(nèi)容及文章結(jié)構(gòu).....................................................................
6、..................6第二章多狀態(tài)約束VINS位置姿態(tài)估計...........................................................82.1多狀態(tài)約束模型...............................................................................................82.2不同精度IMU的系統(tǒng)模型...................................................
7、..........................92.2.1低精度IMU系統(tǒng)模型........................................................................102.2.2中等精度IMU系統(tǒng)模型....................................................................122.2.2高精度IMU系統(tǒng)模型....................................................
8、....................142.3狀態(tài)向量........................................................................................
