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In general, the study of this article includes the areas from IMU to the inertial integrated navigation system theories and applications, and some of studies are advanced.

总之，本文的研究范围涉及了从惯性元件到惯性组合导航系统及其理论的实际应用等多个方面，并在很多方面具有一定的创新之处。

For accurate navigation, it is necessary to calibrate IMU b ias on the spot.

高精度的惯性测量组合中，现场标定零偏十分必要。

The error models of strapdown inertial navigation system are given, and error models of low cost system are given according to the specialties of low cost IMU.

列出了捷联惯导系统的误差传递方程，并结合低成本IMU的特点，给出了低成本捷联惯导系统的误差传递方程。

Methods for improving accuracy of inclinometer with inertial navigation components［J］.

提高带有惯性导航部件的测斜仪精度的方法［J］。

Then this thesis presents another SLAM algorithm-the Relative Map Filter, The RMF is however disadvantaged by the inability to guarantee consistency of the estimated relative map. The following sections introduce a new navigation filter - the Geometric Projection Filter or GPF. The consistency of the estimated relative map is enforced by the application of the constrained estimator to an inconsistent relative map produced by a standard RMF.

然后介绍了SLAM问题的结构，分析了绝对地图滤波器的性质，介绍另一种解决方法—相对地图滤波器，但是相对地图滤波器产生不一致的相对地图，因此在相对地图滤波器的基础上应用约束估计产生一致的相对地图，这就是几何投影滤波器，从而有效的解决了SLAM问题。

The new filter not only has the advantages of the incoordinate interval filter, which can solve the local filter\'s problem that the different navigation device measurements have different periods in real system ,but also has the advantages of preventing distortion of filter which caused by the imperfect arithmetic method or the incorrect statistical characteristic of noises.

对MINS/北斗/GPS多传感器信息融合算法进行了研究，提出了一种改进的非等间隔联邦滤波器，这种滤波算法除了具有非等间隔联邦滤波器的优点即可以解决各局部滤波器的量测信息的周期不同外，还具有抑制因计算方法不完善或系统噪声统计特性不确切而引起的滤波发散的功能。

S government once the war break out, so the guidance bomb shouldn\'t depend on GPS system completely. The information fusion of MINS/RDSS/GPS multi-sensor integrated navigation has been researched and an improved incoordinate interval federated filter has been proposed creatively.

4在MINS/GPS组合中由于MEMS惯导精度较低，离开了GPS就无法单独导航，但采用GPS系统战时会受制于人，因此制导****的导航系统不能对其完全信赖。

To establish an independent satellite navigation and positioning system.

建立自主的卫星导航定位系统。

College of Transportation, Jilin University, Changchun 130022, ChinaAbstract : In order to solve the problem that the traditional single threshold method can not segment the shadow path mark image successfully, a new algorithm based on Regiongrowing has been proposed for our indigenously designed and manufactured vision navigation intelligent vehicle.

针对作者自主开发的视觉导航区域交通智能车辆的导航路径在阴影条件下难以应用单一传统阈值方法分割提取的问题，提出了基于区域生长的图像分割方法。

The simulation experiment proved that the algorithm can reach a good precision and has very important practical value. We can make use of it as an indispensably part of the gravity aided navigation algorithm.

仿真实验证实，算法具有良好的精度，可用于作为重力辅助导航算法的一部分使用，具有很强的实用价值。

Finally it offers the analysis of the fault-tolerance system as well as its test verification.

这样，运行于空间环境中的系统的设计目标就是在保证系统实时性

However, it is still difficult to find out the real reason of the increase of the keratinized gingiva during the orthodontic extrusion whether it is due to the proliferation of the gingival tissue or to its elastic nature, that is because the proliferation of the fibroblasts as well as the connective tissue changes in volume and the intra-fibers spaces were all immeasurable in most of the studies.

然而，仍然难以找到真正的原因增加的角化牙龈在正畸挤压它是否是由于扩散的牙龈组织或其弹性性质，这是因为增殖的成纤维细胞以及作为结缔组织的变化量和内部纤维空格都是不可估量的，大多数的研究。