\BOOKMARK [0][-]{chapter.1}{第1章 序論}{}
\BOOKMARK [1][-]{section.1.1}{1.1 はじめに}{chapter.1}
\BOOKMARK [1][-]{section.1.2}{1.2 仕様および検討}{chapter.1}
\BOOKMARK [1][-]{section.1.3}{1.3 INS/GPS}{chapter.1}
\BOOKMARK [0][-]{chapter.2}{第2章 Kalman Filter}{}
\BOOKMARK [1][-]{section.2.1}{2.1 最小二乗法}{chapter.2}
\BOOKMARK [1][-]{section.2.2}{2.2 重み付き最小二乗法}{chapter.2}
\BOOKMARK [1][-]{section.2.3}{2.3 再帰的重み付き最小二乗法}{chapter.2}
\BOOKMARK [1][-]{section.2.4}{2.4 離散系 Kalman Filter}{chapter.2}
\BOOKMARK [1][-]{section.2.5}{2.5 離散系 Kalman Filterの連続系への適用}{chapter.2}
\BOOKMARK [1][-]{section.2.6}{2.6 UD分解 Kalman Filter}{chapter.2}
\BOOKMARK [0][-]{chapter.3}{第3章 System Design}{}
\BOOKMARK [1][-]{section.3.1}{3.1 運動方程式}{chapter.3}
\BOOKMARK [1][-]{section.3.2}{3.2 運動方程式の線形化}{chapter.3}
\BOOKMARK [1][-]{section.3.3}{3.3 観測方程式}{chapter.3}
\BOOKMARK [1][-]{section.3.4}{3.4 INS/GPS アルゴリズム}{chapter.3}
\BOOKMARK [0][-]{chapter.4}{第4章 数値シミュレーション}{}
\BOOKMARK [1][-]{section.4.1}{4.1 方法}{chapter.4}
\BOOKMARK [1][-]{section.4.2}{4.2 結果}{chapter.4}
\BOOKMARK [1][-]{section.4.3}{4.3 考察}{chapter.4}
\BOOKMARK [0][-]{chapter.5}{第5章 実機試験}{}
\BOOKMARK [1][-]{section.5.1}{5.1 機材}{chapter.5}
\BOOKMARK [1][-]{section.5.2}{5.2 方法}{chapter.5}
\BOOKMARK [1][-]{section.5.3}{5.3 結果}{chapter.5}
\BOOKMARK [0][-]{chapter.6}{第6章 まとめ}{}
\BOOKMARK [0][-]{appendix.A}{付録A Quaternion Algebra}{}
\BOOKMARK [1][-]{section.A.1}{A.1 Quaternionの定義}{appendix.A}
\BOOKMARK [1][-]{section.A.2}{A.2 共役Quaternionの定義}{appendix.A}
\BOOKMARK [1][-]{section.A.3}{A.3 Quaternionのスカラー積}{appendix.A}
\BOOKMARK [1][-]{section.A.4}{A.4 Quaternion間の加算}{appendix.A}
\BOOKMARK [1][-]{section.A.5}{A.5 Quaternion間の乗算}{appendix.A}
\BOOKMARK [1][-]{section.A.6}{A.6 Quaternionによる3次元ベクトルの回転}{appendix.A}
\BOOKMARK [1][-]{section.A.7}{A.7 Quaternionによる回転の合成}{appendix.A}
\BOOKMARK [1][-]{section.A.8}{A.8 Quaternionの時間微分}{appendix.A}
\BOOKMARK [1][-]{section.A.9}{A.9 回転QuaternionとDirection Cosine Matrixの関係}{appendix.A}
\BOOKMARK [0][-]{appendix.B}{付録B Coordinate Systems}{}
\BOOKMARK [1][-]{section.B.1}{B.1 Earth-Centered Inertial Frame \(i-Frame\)}{appendix.B}
\BOOKMARK [1][-]{section.B.2}{B.2 Earth-Centered, Earth-Fixed Frame \(e-Frame\)}{appendix.B}
\BOOKMARK [1][-]{section.B.3}{B.3 Local Geodetic Frame \(g-Frame\)}{appendix.B}
\BOOKMARK [1][-]{section.B.4}{B.4 Navigation Frame \(Wander Azimuth Frame\) \(n-Frame\)}{appendix.B}
\BOOKMARK [1][-]{section.B.5}{B.5 Body Frame \(b-Frame\)}{appendix.B}
\BOOKMARK [1][-]{section.B.6}{B.6 座標変換の表記}{appendix.B}
\BOOKMARK [1][-]{section.B.7}{B.7 i-Frameとe-Frameの関係}{appendix.B}
\BOOKMARK [1][-]{section.B.8}{B.8 e-Frameとg-Frameの関係}{appendix.B}
\BOOKMARK [1][-]{section.B.9}{B.9 g-Frameとn-Frameの関係}{appendix.B}
\BOOKMARK [1][-]{section.B.10}{B.10 e-Frameとn-Frameの関係}{appendix.B}
\BOOKMARK [1][-]{section.B.11}{B.11 n-Frameとb-Frameの関係}{appendix.B}
\BOOKMARK [0][-]{appendix.C}{付録C Earth Model\(WGS-84\)}{}
\BOOKMARK [1][-]{section.C.1}{C.1 楕円モデル}{appendix.C}
\BOOKMARK [1][-]{section.C.2}{C.2 南北方向ならびに東西方向の曲率半径}{appendix.C}
\BOOKMARK [1][-]{section.C.3}{C.3 重力}{appendix.C}
\BOOKMARK [1][-]{section.C.4}{C.4 WGS-84}{appendix.C}
\BOOKMARK [0][-]{appendix.D}{付録D Allan Variance}{}
\BOOKMARK [1][-]{section.D.1}{D.1 Allan Variance}{appendix.D}
\BOOKMARK [0][-]{appendix.E}{付録E ソースコード}{}
\BOOKMARK [0][-]{appendix.F}{付録F 実機試験基板}{}
\BOOKMARK [1][-]{section.F.1}{F.1 回路図}{appendix.F}
\BOOKMARK [1][-]{section.F.2}{F.2 ガーバ}{appendix.F}
\BOOKMARK [1][-]{section.F.3}{F.3 参考文献}{appendix.F}
\BOOKMARK [0][-]{appendix*.8}{参考文献}{}