123,123,123

內(nèi)容簡(jiǎn)介

　　本書分為基礎(chǔ)篇、航空篇、航天篇，共9 章。本書本書側(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。

作者簡(jiǎn)介

　　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。

圖書目錄

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?4
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··················