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多源導(dǎo)航融合與應(yīng)用 
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9 7 4 8 9 7 8 1 3 2 2 1 9 讀者對(duì)象:本書(shū)可供從事多源導(dǎo)航融合理論研究和工程應(yīng)用的專業(yè)技術(shù)人員參考，也可作為高 等院校相關(guān)專業(yè)本科高年級(jí)學(xué)生、研究生的參考書(shū)籍。 
本書(shū)分為基礎(chǔ)篇、航空篇、航天篇，共9 章。本書(shū)本書(shū)側(cè)重于講述多種導(dǎo)航信源的相互融合，取長(zhǎng)補(bǔ)短，實(shí)現(xiàn)多源融合下的航空航天飛行器穩(wěn)定、高精度導(dǎo)航。書(shū)中著重介紹了不同導(dǎo)航信源的發(fā)展及現(xiàn)狀、基本原理、工作特性與優(yōu)缺點(diǎn)等；不同的多源融合導(dǎo)航算法及其基本原理；基于數(shù)學(xué)方法的無(wú)人機(jī)集群協(xié)同導(dǎo)航算法；地磁導(dǎo)航技術(shù)及其與傳統(tǒng)慣性導(dǎo)航系統(tǒng)的融合算法，并通過(guò)實(shí)例及仿真驗(yàn)證，對(duì)比各種算法、模型及系統(tǒng)的優(yōu)劣，具有較強(qiáng)的實(shí)用性。
王小旭，1982年生，工學(xué)博士，教授/博士生導(dǎo)師，西北工業(yè)大學(xué)自動(dòng)化學(xué)院副院長(zhǎng)，主要從事新型慣性器件設(shè)計(jì)、慣導(dǎo)系統(tǒng)集成與測(cè)試、SAR圖像處理、物體三維感知、雷達(dá)目標(biāo)跟蹤與信息融合等研究。連續(xù)主持國(guó)家自然基金面上項(xiàng)目2項(xiàng)、青年項(xiàng)目1項(xiàng)，入選西北工業(yè)大學(xué)"翱翔新星”人才項(xiàng)目；以第一/二作者 出版專著2部；發(fā)表論文50余篇，其中在控制領(lǐng)域公認(rèn)頂級(jí)期刊IEEE TAC與Automatica發(fā)表/錄用論文9篇（長(zhǎng)文2篇），中科院認(rèn)定的TOP期刊論文15 篇；獲陜西省高等學(xué)校科學(xué)技術(shù)一等獎(jiǎng)（排名第1），陜西省科學(xué)技術(shù)二等獎(jiǎng)（排名第5）。2016-2017年在英國(guó)曼徹斯特大學(xué)開(kāi)展訪問(wèn)學(xué)者研究，與合作導(dǎo)師合作發(fā)表多篇高水平論文，多次擔(dān)任國(guó)際會(huì)議程序委員會(huì)委員以及專題研討會(huì)、分會(huì)場(chǎng)等主席；擔(dān)任中國(guó)自動(dòng)化學(xué)會(huì)教育工作委員會(huì)"全國(guó)高校自動(dòng)化方向培養(yǎng)方案構(gòu)建工作組”組長(zhǎng)、陜西省自動(dòng)化學(xué)會(huì)控制理論與應(yīng)用專委會(huì)主任委員等。
第1 部分 基礎(chǔ)篇
第1 章 緒論················································································.2 1.1 導(dǎo)航對(duì)象概述···································································.2 1.2 多源融合導(dǎo)航概述·····························································.4 1.3 多源融合導(dǎo)航基本理論·······················································.7 1.3.1 貝葉斯遞歸濾波·······················································.7 1.3.2 高斯濾波································································10 1.3.3 線性卡爾曼濾波·······················································12 1.3.4 非線性卡爾曼濾波····················································17 1.3.5 非線性濾波的發(fā)展····················································21 參考文獻(xiàn)···············································································22 第2 章 導(dǎo)航信源··········································································27 2.1 慣性導(dǎo)航系統(tǒng)···································································27 2.1.1 慣性導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀·········································27 2.1.2 慣性導(dǎo)航系統(tǒng)的基本原理···········································29 2.1.3 兩種慣性導(dǎo)航系統(tǒng)對(duì)比··············································37 2.2 衛(wèi)星導(dǎo)航系統(tǒng)···································································39 2.2.1 衛(wèi)星導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀·········································39 2.2.2 衛(wèi)星導(dǎo)航系統(tǒng)的定位原理···········································40 2.2.3 衛(wèi)星導(dǎo)航系統(tǒng)的定位特點(diǎn)···········································42 2.2.4 北斗衛(wèi)星導(dǎo)航系統(tǒng)····················································42 2.3 天文導(dǎo)航系統(tǒng)···································································45 2.3.1 天文導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀·········································45 2.3.2 星敏感器的結(jié)構(gòu)及其工作原理······································47 2.3.3 天文導(dǎo)航系統(tǒng)的基本原理···········································49 2.3.4 天文導(dǎo)航系統(tǒng)的特點(diǎn)·················································50 2.4 地磁導(dǎo)航系統(tǒng)···································································51 2.4.1 地磁導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀·········································51 2.4.2 地磁導(dǎo)航系統(tǒng)的基本原理···········································54 2.4.3 地磁導(dǎo)航系統(tǒng)的特點(diǎn)·················································58 2.5 多普勒導(dǎo)航系統(tǒng)································································59 2.5.1 多普勒導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀······································59 2.5.2 多普勒導(dǎo)航系統(tǒng)的基本原理·········································60 2.5.3 多普勒導(dǎo)航系統(tǒng)的特點(diǎn)··············································63 2.6 重力導(dǎo)航系統(tǒng)···································································64 2.6.1 重力導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀·········································64 2.6.2 重力導(dǎo)航系統(tǒng)的基本原理···········································66 2.7 仿生導(dǎo)航系統(tǒng)···································································69 2.7.1 仿生導(dǎo)航技術(shù)的發(fā)展及現(xiàn)狀·········································69 2.7.2 仿生偏振光導(dǎo)航系統(tǒng)的基本原理···································71 參考文獻(xiàn)···············································································74 第3 章 多源融合導(dǎo)航算法框架························································81 3.1 卡爾曼濾波融合導(dǎo)航··························································81 3.1.1 集中式序貫卡爾曼濾波融合導(dǎo)航···································81 3.1.2 分布式聯(lián)邦卡爾曼濾波融合導(dǎo)航···································84 3.2 因子圖融合導(dǎo)航································································89 3.2.1 因子圖理論·····························································89 3.2.2 基于因子圖的導(dǎo)航系統(tǒng)建�！ぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁぁ�94 3.2.3 多源信息融合因子圖算法···········································96 3.2.4 自適應(yīng)因子圖融合導(dǎo)航··············································98 3.3 交互多模型融合導(dǎo)航·······················································.100 3.3.1 交互多模型的原理·················································.100 3.3.2 基于交互多模型的多源融合導(dǎo)航算法··························.102 參考文獻(xiàn)············································································.104 第2 部分 航空篇 第4 章 無(wú)人機(jī)及其集群······························································.107 4.1 無(wú)人機(jī)發(fā)展概述·····························································.107 4.1.1 軍用無(wú)人機(jī)··························································.107 4.1.2 工業(yè)級(jí)無(wú)人機(jī)·······················································.109 4.1.3 消費(fèi)級(jí)無(wú)人機(jī)·······················································.110 4.2 無(wú)人機(jī)多源融合導(dǎo)航概述·················································.111 4.2.1 慣性/衛(wèi)星融合導(dǎo)航系統(tǒng)···········································.112 4.2.2 慣性/天文融合導(dǎo)航系統(tǒng)···········································.113 4.2.3 慣性/衛(wèi)星/天文融合導(dǎo)航系統(tǒng)····································.114 4.3 無(wú)人機(jī)集群概述·····························································.116 4.3.1 無(wú)人機(jī)集群編隊(duì)的重要性········································.116 4.3.2 無(wú)人機(jī)集群發(fā)展現(xiàn)狀··············································.119 4.3.3 無(wú)人機(jī)集群關(guān)鍵技術(shù)··············································.120 4.4 無(wú)人機(jī)集群協(xié)同導(dǎo)航概述·················································.125 4.4.1 無(wú)人機(jī)集群協(xié)同導(dǎo)航的結(jié)構(gòu)······································.125 4.4.2 無(wú)人機(jī)集群協(xié)同導(dǎo)航技術(shù)········································.127 參考文獻(xiàn)············································································.132 第5 章 無(wú)人機(jī)多源融合導(dǎo)航算法··················································.135 5.1 無(wú)人機(jī)多源融合導(dǎo)航算法概述···········································.135 5.2 MIMU/BDS 融合導(dǎo)航算法················································.138 5.2.1 基于加性四元數(shù)的MIMU 誤差方程····························.138 5.2.2 MIMU/BDS 融合導(dǎo)航實(shí)現(xiàn)方式··································.143 5.2.3 基于容積卡爾曼濾波的MIMU/BDS 融合導(dǎo)航實(shí)現(xiàn)方式····.148 5.2.4 MIMU/BDS 融合導(dǎo)航算法存在的問(wèn)題及解決方法··········.153 5.3 MIMU/BDS/CNS 融合導(dǎo)航算法··········································.163 5.3.1 MIMU/BDS/CNS 集中式融合導(dǎo)航算法························.163 5.3.2 MIMU/BDS/CNS 分布式融合導(dǎo)航算法························.165 5.3.3 MIMU/BDS/CNS 融合導(dǎo)航算法存在的問(wèn)題及解決方法····.169 參考文獻(xiàn)············································································.181 第6 章 無(wú)人機(jī)集群協(xié)同導(dǎo)航算法··················································.184 6.1 無(wú)人機(jī)集群協(xié)同導(dǎo)航算法概述···········································.184 6.1.1 基于傳感器類型的無(wú)人機(jī)集群協(xié)同導(dǎo)航算法分類···········.184 多源導(dǎo)航融合與應(yīng)用 XII 6.1.2 基于數(shù)學(xué)方法的無(wú)人機(jī)集群協(xié)同導(dǎo)航算法分類··············.185 6.2 基于運(yùn)動(dòng)模型的無(wú)人機(jī)集群分層式協(xié)同導(dǎo)航算法····················.187 6.2.1 基于運(yùn)動(dòng)模型的無(wú)人機(jī)集群分層式協(xié)同導(dǎo)航模式···········.187 6.2.2 基于聯(lián)邦容積卡爾曼濾波的協(xié)同導(dǎo)航算法····················.191 6.2.3 仿真分析·····························································.198 6.3 無(wú)人機(jī)集群分層式慣性基協(xié)同導(dǎo)航絕對(duì)定位算法····················.207 6.3.1 基于慣導(dǎo)的協(xié)同導(dǎo)航模式········································.208 6.3.2 基于聯(lián)邦擴(kuò)展卡爾曼濾波的協(xié)同導(dǎo)航算法····················.214 6.3.3 仿真分析·····························································.215 參考文獻(xiàn)············································································.220 第3 部分 航天篇 第7 章 高速飛行器····································································.224 7.1 高速飛行器發(fā)展概述·······················································.224 7.1.1 美國(guó)高速飛行器發(fā)展概述········································.225 7.1.2 俄羅斯高速飛行器發(fā)展概述······································.230 7.1.3 中國(guó)高速飛行器發(fā)展概述········································.231 7.1.4 其他國(guó)家高速飛行器發(fā)展概述···································.232 7.2 高速飛行器導(dǎo)航系統(tǒng)概述·················································.233 7.2.1 高速飛行器導(dǎo)航算法對(duì)比········································.233 7.2.2 高速飛行器導(dǎo)航系統(tǒng)分析········································.236 7.2.3 高速飛行器導(dǎo)航特點(diǎn)分析········································.239 參考文獻(xiàn)············································································.240 第8 章 高速飛行器慣性基融合導(dǎo)航算法·········································.243 8.1 高速飛行器慣導(dǎo)系統(tǒng)·······················································.243 8.1.1 常用坐標(biāo)系介紹及參數(shù)說(shuō)明······································.243 8.1.2 坐標(biāo)系之間的轉(zhuǎn)換·················································.246 8.1.3 高速飛行器捷聯(lián)式慣導(dǎo)計(jì)算······································.251 8.1.4 發(fā)射坐標(biāo)系下捷聯(lián)式慣導(dǎo)系統(tǒng)誤差方程·······················.263 8.2 高速飛行器SINS/BDS 融合導(dǎo)航·········································.265 8.2.1 SINS/BDS 融合導(dǎo)航系統(tǒng)簡(jiǎn)介····································.265 8.2.2 發(fā)射坐標(biāo)系下的SINS/BDS 松耦合導(dǎo)航算法·················.266 8.2.3 發(fā)射坐標(biāo)系下的SINS/BDS 緊耦合導(dǎo)航算法·················.269 8.2.4 發(fā)射坐標(biāo)系下的SINS/BDS 融合導(dǎo)航算法仿真分析········.272 目錄 XIII 8.3 高速飛行器SINS/CNS 融合導(dǎo)航·········································.281 8.3.1 SINS/CNS 融合導(dǎo)航系統(tǒng)簡(jiǎn)介····································.281 8.3.2 CNS 星敏感器矢量定姿原理·····································.284 8.3.3 SINS/CNS 融合導(dǎo)航算法··········································.295 8.3.4 SINS/CNS 融合導(dǎo)航算法仿真分析······························.297 8.4 高速飛行器SINS/BDS/CNS 融合導(dǎo)航··································.302 8.4.1 SINS/BDS/CNS 融合導(dǎo)航系統(tǒng)簡(jiǎn)介·····························.302 8.4.2 SINS/BDS/CNS 融合導(dǎo)航算法···································.302 8.4.3 SINS/BDS/CNS 融合導(dǎo)航算法仿真分析·······················.308 參考文獻(xiàn)············································································.311 第9 章 高速飛行器慣性/地磁融合導(dǎo)航算法······································.312 9.1 地磁導(dǎo)航技術(shù)概述··························································.312 9.1.1 地磁場(chǎng)簡(jiǎn)介··························································.314 9.1.2 地磁場(chǎng)模型··························································.316 9.1.3 仿真分析·····························································.320 9.2 慣性/地磁融合導(dǎo)航算法···················································.323 9.2.1 狀態(tài)方程·····························································.323 9.2.2 量測(cè)方程·····························································.323 9.3 基于地磁輪廓匹配技術(shù)的慣性/地磁融合導(dǎo)航算法···················.324 9.3.1 經(jīng)典MAGCOM 算法原理········································.325 9.3.2 改進(jìn)的MAGCOM 算法原理·····································.326 9.3.3 改進(jìn)的MAGCOM 算法流程·····································.328 9.3.4 改進(jìn)的MAGCOM 算法仿真·····································.329 9.4 基于迭代最近輪廓點(diǎn)匹配技術(shù)的慣性/地磁融合導(dǎo)航算法··········.331 9.4.1 ICCP 算法原理······················································.331 9.4.2 ICCP 算法流程······················································.334 9.4.3 ICCP 算法仿真······················································.335 9.5 基于桑迪亞地磁輔助技術(shù)的慣性/地磁融合導(dǎo)航算法················.337 9.5.1 SIMAN 算法原理···················································.338 9.5.2 地磁圖線性化技術(shù)·················································.339 9.5.3 SIMAN 算法流程···················································.342 9.5.4 SIMAN 算法仿真···················································.343 9.6 基于多地磁分量輔助定位技術(shù)的慣性/地磁融合導(dǎo)航算法··········.345 9.6.1 MCAL 算法原理····················································.345 多源導(dǎo)航融合與應(yīng)用 XIV 9.6.2 MCAL 算法流程····················································.347 9.6.3 MCAL 算法仿真····················································.348 9.7 各慣性/地磁融合導(dǎo)航算法對(duì)比分析·····································.350 參考文獻(xiàn)············································································.351 附錄A 歐拉角和轉(zhuǎn)換矩陣···························································.353 附錄B 縮寫表··········································································.357 附錄C 基礎(chǔ)篇符號(hào)表·································································.361 附錄D 航空篇符號(hào)表·································································.367 附錄E 航天篇符號(hào)表·································································.371
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