To alleviate the accumulation error, a Kalman-filtering approach based on a nine-accelerometer configuration of NGMIMU is proposed. The state equation and estimation equation are also deduced.
本文基于NGMIMU九加速度计配置方案，利用卡尔曼滤波器抑制误差的累积，并且推导了卡尔曼滤波器的状态方程和预防方程。
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