├── 1.Code ├── README.md └── Simualator │ ├── .gitignore │ ├── CleanProject.bat │ ├── GnssIns-PDR.sln │ ├── Project │ ├── GnssIns-PDR.vcxproj │ ├── GnssIns-PDR.vcxproj.filters │ ├── GnssIns-PDR.vcxproj.user │ └── main.cpp │ └── Src │ ├── AHRS.cpp │ ├── AHRS.h │ ├── CoordTrans.cpp │ ├── CoordTrans.h │ ├── Detector.cpp │ ├── Detector.h │ ├── DirectionEstimator.cpp │ ├── DirectionEstimator.h │ ├── Interface.cpp │ ├── Interface.h │ ├── Kalman.cpp │ ├── Kalman.h │ ├── KmlSupport.cpp │ ├── KmlSupport.h │ ├── Location.cpp │ ├── Location.h │ ├── Matrix.cpp │ ├── Matrix.h │ ├── PDRBase.h │ ├── Pedometer.cpp │ ├── Pedometer.h │ ├── Quaternion.cpp │ ├── Quaternion.h │ ├── SceneRecognition.cpp │ └── SceneRecognition.h ├── 2.Dataset └── 2.Dataset.zip ├── 3.Docs └── GnssIns-PDR架构设计.xmind ├── 4.Image ├── Gnss-Image(1).png ├── Gnss-Image(2).png ├── GnssIns-Image(1).png ├── GnssIns-Image(2).png ├── PDR代码组成框架.png └── PDR算法架构设计.png └── 5.Output ├── 20210408_234819_019_PDR_Simulate_Result.kml ├── 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