移动机器人导航定位技术

第1 章 绪论········································································································1 1.1 移动机器人的概念···························································································1 1.2 移动机器人的发展···························································································2 1.3 移动机器人的关键技术·····················································································3 1.4 导航定位的概念和分类·····················································································4 1.5 导航定位技术的发展趋势··················································································5 参考文献·············································································································6 第2 章 常用的导航定位技术············································································7 2.1 卫星导航定位技术··························································································7 2.1.1 卫星导航定位系统的发展·······································································7 2.1.2 国内外卫星导航定位系统介绍··································································8 2.1.3 卫星导航定位系统的组成·····································································.11 2.1.4 卫星导航定位技术简介········································································.16 2.2 SLAM 导航定位技术····················································································.18 2.2.1 SLAM 常用传感器概述········································································.19 2.2.2 VSLAM····························································································.19 2.2.3 LidarSLAM························································································.20 2.3 其他导航定位技术·······················································································.21 2.3.1 Wi-Fi 定位技术···················································································.21 2.3.2 蓝牙定位技术····················································································.24 2.3.3 ZigBee 定位技术·················································································.27 2.3.4 RFID 定位技术···················································································.29 2.3.5 地磁定位技术····················································································.32 2.3.6 智能天线定位技术··············································································.35 2.3.7 超声波定位技术·················································································.38 2.3.8 红外线定位技术·················································································.40 参考文献··········································································································.41 第3 章 UWB 室内定位技术·········································································.46 3.1 UWB 技术概述···························································································.46 3.1.1 UWB 技术定义···················································································.46 3.1.2 UWB 技术特点···················································································.47 3.1.3 UWB 技术的应用················································································.47 3.1.4 UWB 室内定位原理及系统构成······························································.49 3.2 UWB 脉冲的产生和调制···············································································.51 3.2.1 UWB 信号的实现方法··········································································.51 3.2.2 常用的脉冲模板·················································································.54 3.2.3 基于数字逻辑电路的窄脉冲设计····························································.72 3.2.4 基于双非门结构的窄脉冲设计·······························································.80 3.2.5 UWB 脉冲信号的调制··········································································.84 3.3 UWB 接收机设计························································································.95 3.3.1 接收机同步原理·················································································.96 3.3.2 UWB 接收机原理及结构·······································································.98 3.3.3 方案设计··························································································102 3.4 UWB 室内定位算法研究···············································································129 3.4.1 研究现状··························································································129 3.4.2 常用定位算法简介··············································································131 3.4.3 UWB 室内定位算法的数学模型······························································135 3.4.4 UWB 厘米级室内定位算法设计······························································141 3.4.5 基于实际UWB 信道模型的定位算法设计·················································150 3.4.6 干扰对定位精度的影响分析··································································156 3.4.7 NLOS 环境下的定位算法研究································································164 3.4.8 移动目标的跟踪定位算法研究·······························································174 参考文献··········································································································202 第4 章 惯性导航技术····················································································210 4.1 概述·········································································································210 4.1.1 基本概念··························································································210 4.1.2 惯性导航技术的发展状况·····································································211 4.2 惯性导航基础·····························································································212 4.2.1 地球形状和重力模型···········································································212 4.2.2 哥氏力和比力····················································································217 4.2.3 常用坐标系·······················································································218 4.2.4 坐标变换与姿态·················································································221 4.3 捷联式惯性导航方法····················································································231 4.3.1 SINS 的工作原理················································································232 4.3.2 捷联式定位定姿系统初始定向工作原理···················································232 4.4 惯性导航应用·····························································································237 4.4.1 在舰船导航中的应用···········································································238 4.4.2 在行人定位中的应用···········································································238 4.4.3 在航空领域的应用··············································································238 4.4.4 在导弹制导中的应用···········································································238 4.4.5 在电子行业的应用··············································································239 4.5 惯性导航技术的近期新进展及未来发展趋势·························································239 4.5.1 惯性导航技术的近期新进展·····································································239 4.5.2 惯性导航技术的未来发展趋势·······························································239 参考文献··········································································································240 第5 章 机器人SLAM 技术·········································································242 5.1 SLAM 算法介绍··························································································242 5.1.1 基于特征点法的SLAM 算法··································································244 5.1.2 基于直接法的SLAM 算法·····································································247 5.1.3 融合特征点法和直接法的SLAM 算法······················································250 5.1.4 融合视觉信息和IMU 信息的SLAM 算法·················································252 5.1.5 动态场景下的SLAM 算法·····································································255 5.2 SLAM 技术发展中存在的问题与对策·······························································257 5.3 SLAM 技术发展前沿····················································································261 5.4 语义SLAM 技术·························································································263 5.4.1 语义信息用于特征选择········································································264 5.4.2 语义信息用于动态SLAM ·····································································266 5.4.3 语义信息用于单目SLAM 的尺度恢复······················································270 5.4.4 语义信息用于long-term 定位·································································271 5.4.5 语义信息用于提高定位精度··································································273 5.4.6 SLAM 的动态地图和语义问题·······························································275 5.5 点线SLAM 系统·························································································281 5.5.1 VSLAM 中的线段特征提取···································································283 5.5.2 基于点线综合特征的VSLAM 系统·························································295 5.6 SLAM 技术应用场景····················································································304 5.6.1 室内机器人·······················································································305 5.6.2 方量计算··························································································306 5.6.3 自动驾驶··························································································311 参考文献··········································································································312 第6 章 多源信息融合算法及其在组合导航中的应用·································317 6.1 基于KF 的状态估计研究现状·········································································318 6.1.1 KF 研究现状······················································································318 6.1.2 不确定系统的KF 研究现状···································································319 6.1.3 基于KF 的组合导航研究现状································································322 6.2 DKF 算法··································································································324 6.2.1 DKF 算法简介····················································································324 6.2.2 自适应快速DKF 算法··········································································324 6.2.3 自适应快速弱敏EKF 算法····································································328 6.2.4 自适应快速弱敏UKF算法···········································································331 6.3 SKF 算法及其在组合导航中的应用·································································344 6.3.1 SKF 算法··························································································344 6.3.2 Consider 集合KF 算法·········································································349 6.3.3 部分强跟踪Consider SDREF 算法及其应用···············································359 参考文献··········································································································372