This project forked from logzhan/gnssins-dr
组合导航-行人航位推算算法
更新：2022-11-1，完善算法运行流程、增加AHRS解算
原理：利用IMU计算行人以及方向融合GNSS的方向，采用EKF进行融合滤波得到最优的位置估计。
采用更新的架构进行重新设计和重新复现，持续复现重构中。
计步器复现仓库：https://github.com/Logzhan/Pedometer
PDR算法的架构设计如下图所示：
代码的结构设计：
手机原始输出位置：
.png)
Gnss融合输出位置：
.png)
手机原始输出位置：
.png)
Gnss融合输出位置：
.png)
2022-09-08 ： 创建仓库、添加仿真结果
2022-09-10 ： 更新新版PDR算法架构设计, 创建Visual Studio 工程
2022-09-14 ：添加矩阵计算库
2022-09-20 ：增加坐标系转换函数支持
2022-09-23 ：根据设计的架构完成PDR代码的设计
2022-10-10 : 增加部分卡尔曼滤波计算
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