第1 章 緒論········································································································1
1.1 移動機(jī)器人的概念···························································································1
1.2 移動機(jī)器人的發(fā)展···························································································2
1.3 移動機(jī)器人的關(guān)鍵技術(shù)·····················································································3
1.4 導(dǎo)航定位的概念和分類·····················································································4
1.5 導(dǎo)航定位技術(shù)的發(fā)展趨勢··················································································5
參考文獻(xiàn)·············································································································6
第2 章 常用的導(dǎo)航定位技術(shù)············································································7
2.1 衛(wèi)星導(dǎo)航定位技術(shù)··························································································7
2.1.1 衛(wèi)星導(dǎo)航定位系統(tǒng)的發(fā)展·······································································7
2.1.2 國內(nèi)外衛(wèi)星導(dǎo)航定位系統(tǒng)介紹··································································8
2.1.3 衛(wèi)星導(dǎo)航定位系統(tǒng)的組成·····································································.11
2.1.4 衛(wèi)星導(dǎo)航定位技術(shù)簡介········································································.16
2.2 SLAM 導(dǎo)航定位技術(shù)····················································································.18
2.2.1 SLAM 常用傳感器概述········································································.19
2.2.2 VSLAM····························································································.19
2.2.3 LidarSLAM························································································.20
2.3 其他導(dǎo)航定位技術(shù)·······················································································.21
2.3.1 Wi-Fi 定位技術(shù)···················································································.21
2.3.2 藍(lán)牙定位技術(shù)····················································································.24
2.3.3 ZigBee 定位技術(shù)·················································································.27
2.3.4 RFID 定位技術(shù)···················································································.29
2.3.5 地磁定位技術(shù)····················································································.32
2.3.6 智能天線定位技術(shù)··············································································.35
2.3.7 超聲波定位技術(shù)·················································································.38
2.3.8 紅外線定位技術(shù)·················································································.40
參考文獻(xiàn)··········································································································.41
第3 章 UWB 室內(nèi)定位技術(shù)·········································································.46
3.1 UWB 技術(shù)概述···························································································.46
3.1.1 UWB 技術(shù)定義···················································································.46
3.1.2 UWB 技術(shù)特點···················································································.47
3.1.3 UWB 技術(shù)的應(yīng)用················································································.47
3.1.4 UWB 室內(nèi)定位原理及系統(tǒng)構(gòu)成······························································.49
3.2 UWB 脈沖的產(chǎn)生和調(diào)制···············································································.51
3.2.1 UWB 信號的實現(xiàn)方法··········································································.51
3.2.2 常用的脈沖模板·················································································.54
3.2.3 基于數(shù)字邏輯電路的窄脈沖設(shè)計····························································.72
3.2.4 基于雙非門結(jié)構(gòu)的窄脈沖設(shè)計·······························································.80
3.2.5 UWB 脈沖信號的調(diào)制··········································································.84
3.3 UWB 接收機(jī)設(shè)計························································································.95
3.3.1 接收機(jī)同步原理·················································································.96
3.3.2 UWB 接收機(jī)原理及結(jié)構(gòu)·······································································.98
3.3.3 方案設(shè)計··························································································102
3.4 UWB 室內(nèi)定位算法研究···············································································129
3.4.1 研究現(xiàn)狀··························································································129
3.4.2 常用定位算法簡介··············································································131
3.4.3 UWB 室內(nèi)定位算法的數(shù)學(xué)模型······························································135
3.4.4 UWB 厘米級室內(nèi)定位算法設(shè)計······························································141
3.4.5 基于實際UWB 信道模型的定位算法設(shè)計·················································150
3.4.6 干擾對定位精度的影響分析··································································156
3.4.7 NLOS 環(huán)境下的定位算法研究································································164
3.4.8 移動目標(biāo)的跟蹤定位算法研究·······························································174
參考文獻(xiàn)··········································································································202
第4 章 慣性導(dǎo)航技術(shù)····················································································210
4.1 概述·········································································································210
4.1.1 基本概念··························································································210
4.1.2 慣性導(dǎo)航技術(shù)的發(fā)展?fàn)顩r·····································································211
4.2 慣性導(dǎo)航基礎(chǔ)·····························································································212
4.2.1 地球形狀和重力模型···········································································212
4.2.2 哥氏力和比力····················································································217
4.2.3 常用坐標(biāo)系·······················································································218
4.2.4 坐標(biāo)變換與姿態(tài)·················································································221
4.3 捷聯(lián)式慣性導(dǎo)航方法····················································································231
4.3.1 SINS 的工作原理················································································232
4.3.2 捷聯(lián)式定位定姿系統(tǒng)初始定向工作原理···················································232
4.4 慣性導(dǎo)航應(yīng)用·····························································································237
4.4.1 在艦船導(dǎo)航中的應(yīng)用···········································································238
4.4.2 在行人定位中的應(yīng)用···········································································238
4.4.3 在航空領(lǐng)域的應(yīng)用··············································································238
4.4.4 在導(dǎo)彈制導(dǎo)中的應(yīng)用···········································································238
4.4.5 在電子行業(yè)的應(yīng)用··············································································239
4.5 慣性導(dǎo)航技術(shù)的最新進(jìn)展及未來發(fā)展趨勢·························································239
4.5.1 慣性導(dǎo)航技術(shù)的最新進(jìn)展·····································································239
4.5.2 慣性導(dǎo)航技術(shù)的未來發(fā)展趨勢·······························································239
參考文獻(xiàn)··········································································································240
第5 章 機(jī)器人SLAM 技術(shù)·········································································242
5.1 SLAM 算法介紹··························································································242
5.1.1 基于特征點法的SLAM 算法··································································244
5.1.2 基于直接法的SLAM 算法·····································································247
5.1.3 融合特征點法和直接法的SLAM 算法······················································250
5.1.4 融合視覺信息和IMU 信息的SLAM 算法·················································252
5.1.5 動態(tài)場景下的SLAM 算法·····································································255
5.2 SLAM 技術(shù)發(fā)展中存在的問題與對策·······························································257
5.3 SLAM 技術(shù)發(fā)展前沿····················································································261
5.4 語義SLAM 技術(shù)·························································································263
5.4.1 語義信息用于特征選擇········································································264
5.4.2 語義信息用于動態(tài)SLAM ·····································································266
5.4.3 語義信息用于單目SLAM 的尺度恢復(fù)······················································270
5.4.4 語義信息用于long-term 定位·································································271
5.4.5 語義信息用于提高定位精度··································································273
5.4.6 SLAM 的動態(tài)地圖和語義問題·······························································275
5.5 點線SLAM 系統(tǒng)·························································································281
5.5.1 VSLAM 中的線段特征提取···································································283
5.5.2 基于點線綜合特征的VSLAM 系統(tǒng)·························································295
5.6 SLAM 技術(shù)應(yīng)用場景····················································································304
5.6.1 室內(nèi)機(jī)器人·······················································································305
5.6.2 方量計算··························································································306
5.6.3 自動駕駛··························································································311
參考文獻(xiàn)··········································································································312
第6 章 多源信息融合算法及其在組合導(dǎo)航中的應(yīng)用·································317
6.1 基于KF 的狀態(tài)估計研究現(xiàn)狀·········································································318
6.1.1 KF 研究現(xiàn)狀······················································································318
6.1.2 不確定系統(tǒng)的KF 研究現(xiàn)狀···································································319
6.1.3 基于KF 的組合導(dǎo)航研究現(xiàn)狀································································322
6.2 DKF 算法··································································································324
6.2.1 DKF 算法簡介····················································································324
6.2.2 自適應(yīng)快速DKF 算法··········································································324
6.2.3 自適應(yīng)快速弱敏EKF 算法····································································328
6.2.4 自適應(yīng)快速弱敏UKF算法···········································································331
6.3 SKF 算法及其在組合導(dǎo)航中的應(yīng)用·································································344
6.3.1 SKF 算法··························································································344
6.3.2 Consider 集合KF 算法·········································································349
6.3.3 部分強(qiáng)跟蹤C(jī)onsider SDREF 算法及其應(yīng)用···············································359
參考文獻(xiàn)··········································································································372