全面介绍了惯导的基本知识,包括陀螺仪和加速度计，各种误差模型介绍。-introduction the inertial navigation good

利用误差协方差阵的迹最小准则建立了多传感器异步融合模型-Error covariance matrix using the minimum criteria for the establishment of a multi-track asynchronous sensor fusion model

PF-RMSE 单变量非静态增长模型（UNGM模型）粒子滤波算法下，均方根误差分析仿真-Under PF-RMSE univariate non-static growth model (UNGM model) particle filter, root mean square error analysis and simulation