多源導航融合與應用

第1 部分 基礎篇
第1 章 緒論················································································.2
1.1 導航對象概述···································································.2
1.2 多源融合導航概述·····························································.4
1.3 多源融合導航基本理論·······················································.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···············································································22
第2 章 導航信源··········································································27
2.1 慣性導航系統(tǒng)···································································27
2.1.1 慣性導航技術的發(fā)展及現(xiàn)狀·········································27
2.1.2 慣性導航系統(tǒng)的基本原理···········································29
2.1.3 兩種慣性導航系統(tǒng)對比··············································37
2.2 衛(wèi)星導航系統(tǒng)···································································39
2.2.1 衛(wèi)星導航技術的發(fā)展及現(xiàn)狀·········································39
2.2.2 衛(wèi)星導航系統(tǒng)的定位原理···········································40
2.2.3 衛(wèi)星導航系統(tǒng)的定位特點···········································42
2.2.4 北斗衛(wèi)星導航系統(tǒng)····················································42
2.3 天文導航系統(tǒng)···································································45
2.3.1 天文導航技術的發(fā)展及現(xiàn)狀·········································45
2.3.2 星敏感器的結(jié)構及其工作原理······································47
2.3.3 天文導航系統(tǒng)的基本原理···········································49
2.3.4 天文導航系統(tǒng)的特點·················································50
2.4 地磁導航系統(tǒng)···································································51
2.4.1 地磁導航技術的發(fā)展及現(xiàn)狀·········································51
2.4.2 地磁導航系統(tǒng)的基本原理···········································54
2.4.3 地磁導航系統(tǒng)的特點·················································58
2.5 多普勒導航系統(tǒng)································································59
2.5.1 多普勒導航技術的發(fā)展及現(xiàn)狀······································59
2.5.2 多普勒導航系統(tǒng)的基本原理·········································60
2.5.3 多普勒導航系統(tǒng)的特點··············································63
2.6 重力導航系統(tǒng)···································································64
2.6.1 重力導航技術的發(fā)展及現(xiàn)狀·········································64
2.6.2 重力導航系統(tǒng)的基本原理···········································66
2.7 仿生導航系統(tǒng)···································································69
2.7.1 仿生導航技術的發(fā)展及現(xiàn)狀·········································69
2.7.2 仿生偏振光導航系統(tǒng)的基本原理···································71
參考文獻···············································································74
第3 章 多源融合導航算法框架························································81
3.1 卡爾曼濾波融合導航··························································81
3.1.1 集中式序貫卡爾曼濾波融合導航···································81
3.1.2 分布式聯(lián)邦卡爾曼濾波融合導航···································84
3.2 因子圖融合導航································································89
3.2.1 因子圖理論·····························································89
3.2.2 基于因子圖的導航系統(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?4
3.2.3 多源信息融合因子圖算法···········································96
3.2.4 自適應因子圖融合導航··············································98
3.3 交互多模型融合導航·······················································.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航算法··························.102
參考文獻············································································.104
第2 部分 航空篇
第4 章 無人機及其集群······························································.107
4.1 無人機發(fā)展概述·····························································.107
4.1.1 軍用無人機··························································.107
4.1.2 工業(yè)級無人機·······················································.109
4.1.3 消費級無人機·······················································.110
4.2 無人機多源融合導航概述··················