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內(nèi)容簡介

　　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，取長補短，實現(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)方法的無人機集群協(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，并通過實例及仿真驗證，對比各種算法、模型及系統(tǒng)的優(yōu)劣，具有較強的實用性。

作者簡介

　　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)自動化學(xué)院副院長，主要從事新型慣性器件設(shè)計、慣導(dǎo)系統(tǒng)集成與測試、SAR圖像處理、物體三維感知、雷達目標(biāo)跟蹤與信息融合等研究。連續(xù)主持國家自然基金面上項目2項、青年項目1項，入選西北工業(yè)大學(xué)"翱翔新星”人才項目；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)域公認頂級期刊IEEE TAC與Automatica發(fā)表/錄用論文9篇（長文2篇），中科院認定的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（排名第1），陜西省科學(xué)技術(shù)二等獎（排名第5）。2016-2017年在英國曼徹斯特大學(xué)開展訪問學(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)任國際會議程序委員會委員以及專題研討會、分會場等主席；擔(dān)任中國自動化學(xué)會教育工作委員會"全國高校自動化方向培養(yǎng)方案構(gòu)建工作組”組長、陜西省自動化學(xué)會控制理論與應(yīng)用專委會主任委員等。

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···············································································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···········································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·················································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·················································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··············································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···············································································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)建模·········································94
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············································································.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(dǎo)航概述··················