移動機器人導航定位技術

第1 章 緒論········································································································1
1.1 移動機器人的概念···························································································1
1.2 移動機器人的發展···························································································2
1.3 移動機器人的關鍵技術·····················································································3
1.4 導航定位的概念和分類·····················································································4
1.5 導航定位技術的發展趨勢··················································································5
參考文獻·············································································································6
第2 章 常用的導航定位技術············································································7
2.1 衛星導航定位技術··························································································7
2.1.1 衛星導航定位系統的發展·······································································7
2.1.2 國內外衛星導航定位系統介紹··································································8
2.1.3 衛星導航定位系統的組成·····································································.11
2.1.4 衛星導航定位技術簡介········································································.16
2.2 SLAM 導航定位技術····················································································.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 其他導航定位技術·······················································································.21
2.3.1 Wi-Fi 定位技術···················································································.21
2.3.2 藍牙定位技術····················································································.24
2.3.3 ZigBee 定位技術·················································································.27
2.3.4 RFID 定位技術···················································································.29
2.3.5 地磁定位技術····················································································.32
2.3.6 智能天線定位技術··············································································.35
2.3.7 超聲波定位技術·················································································.38
2.3.8 紅外線定位技術·················································································.40
參考文獻··········································································································.41
第3 章 UWB 室內定位技術·········································································.46
3.1 UWB 技術概述···························································································.46
3.1.1 UWB 技術定義···················································································.46
3.1.2 UWB 技術特點···················································································.47
3.1.3 UWB 技術的應用················································································.47
3.1.4 UWB 室內定位原理及系統構成······························································.49
3.2 UWB 脈沖的產生和調制···············································································.51
3.2.1 UWB 信號的實現方法··········································································.51
3.2.2 常用的脈沖模板·················································································.54
3.2.3 基於數字邏輯電路的窄脈沖設計····························································.72
3.2.4 基於雙非門結構的窄脈沖設計·······························································.80
3.2.5 UWB 脈沖信號的調制··········································································.84
3.3 UWB 接收機設計························································································.95
3.3.1 接收機同步原理·················································································.96
3.3.2 UWB 接收機原理及結構·······································································.98
3.3.3 方案設計··························································································102
3.4 UWB 室內定位算法研究···············································································129
3.4.1 研究現狀··························································································129
3.4.2 常用定位算法簡介··············································································131
3.4.3 UWB 室內定位算法的數學模型······························································135
3.4.4 UWB 釐米級室內定位算法設計······························································141
3.4.5 基於實際UWB 通道模型的定位算法設計·················································150
3.4.6 乾擾對定位精度的影響分析··································································156
3.4.7 NLOS 環境下的定位算法研究································································164
3.4.8 移動目標的跟蹤定位算法研究·······························································174
參考文獻··········································································································202
第4 章 慣性導航技術····················································································210
4.1 概述·········································································································210
4.1.1 基本概念··························································································210
4.1.2 慣性導航技術的發展狀況·····································································211
4.2 慣性導航基礎·····························································································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 常用坐標系·······················································································218
4.2.4 坐標變換與姿態·················································································221
4.3 捷聯式慣性導航方法····················································································231
4.3.1 SINS 的工作原理················································································232
4.3.2 捷聯式定位定姿系統初始定向工作原理···················································232
4.4 慣性導航應用·····························································································237
4.4.1 在艦船導航中的應用···········································································238
4.4.2 在行人定位中的應用···········································································238
4.4.3 在航空領域的應用··············································································238
4.4.4 在導彈制導中的應用···········································································238
4.4.5 在電子行業的應用··············································································239
4.5 慣性導航技術的最新進展及未來發展趨勢·························································239
4.5.1 慣性導航技術的最新進展·····································································239
4.5.2 慣性導航技術的未來發展趨勢·······························································239
參考文獻··········································································································240
第5 章 機器人SLAM 技術·········································································242
5.1 SLAM 算法介紹··························································································242
5.1.1 基於特徵點法的SLAM 算法··································································244
5.1.2 基於直接法的SLAM 算法·····································································247
5.1.3 融合特徵點法和直接法的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 動態場景下的SLAM 算法·····································································255
5.2 SLAM 技術發展中存在的問題與對策·······························································257
5.3 SLAM 技術發展前沿····················································································261
5.4 語義SLAM 技術·························································································263
5.4.1 語義信息用於特徵選擇········································································264
5.4.2 語義信息用於動態SLAM ·····································································266
5.4.3 語義信息用於單目SLAM 的尺度恢復······················································270
5.4.4 語義信息用於long-term 定位·································································271
5.4.5 語義信息用於提高定位精度··································································273
5.4.6 SLAM 的動態地圖和語義問題·······························································275
5.5 點線SLAM 系統·························································································281
5.5.1 VSLAM 中的線段特徵提取···································································283
5.5.2 基於點線綜合特徵的VSLAM 系統·························································295
5.6 SLAM 技術應用場景····················································································304
5.6.1 室內機器人·······················································································305
5.6.2 方量計算··························································································306
5.6.3 自動駕駛··························································································311
參考文獻··········································································································312
第6 章 多源信息融合算法及其在組合導航中的應用·································317
6.1 基於KF 的狀態估計研究現狀·········································································318
6.1.1 KF 研究現狀······················································································318
6.1.2 不確定系統的KF 研究現狀···································································319
6.1.3 基於KF 的組合導航研究現狀································································322
6.2 DKF 算法··································································································324
6.2.1 DKF 算法簡介····················································································324
6.2.2 自適應快速DKF 算法··········································································324
6.2.3 自適應快速弱敏EKF 算法····································································328
6.2.4 自適應快速弱敏UKF算法···········································································331
6.3 SKF 算法及其在組合導航中的應用·································································344
6.3.1 SKF 算法··························································································344
6.3.2 Consider 集合KF 算法·········································································349
6.3.3 部分強跟蹤Consider SDREF 算法及其應用···············································359
參考文獻··········································································································372