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內(nèi)容簡介

　　本書針對移動機器人中涉及的主要無線導(dǎo)航定位技術(shù)的最新研究成果進行了論述，涵蓋了近年來作者團隊在無線導(dǎo)航定位技術(shù)路徑規(guī)劃、定位算法及系統(tǒng)構(gòu)架等方面取得的成果。全書共6 章，第1 章從移動機器人的概念入手，回顧了其發(fā)展歷程和關(guān)鍵技術(shù)，深入探討了導(dǎo)航定位的概念、分類及其發(fā)展趨勢；第2 章詳細(xì)介紹了移動機器人涉及的各種導(dǎo)航定位技術(shù)；第3 章詳細(xì)介紹了UWB 定位技術(shù)的特點、應(yīng)用及系統(tǒng)構(gòu)成，深入介紹了UWB 脈沖的產(chǎn)生、調(diào)制技術(shù)及其接收機設(shè)計、UWB 室內(nèi)定位算法的實現(xiàn)等；第4 章從慣性導(dǎo)航技術(shù)的基本概念和發(fā)展?fàn)顩r出發(fā)，介紹了慣性導(dǎo)航的基礎(chǔ)理論、捷聯(lián)慣性導(dǎo)航方法及其在各領(lǐng)域的應(yīng)用，并對慣性導(dǎo)航定位技術(shù)的進展及未來發(fā)展趨勢進行了介紹；第5 章介紹了SLAM 系統(tǒng)的各種算法、發(fā)展中存在的問題與對策，并為讀者展示了SLAM 技術(shù)的最新研究方向和應(yīng)用前景；第6 章詳細(xì)論述了多源信息融合算法及其在組合導(dǎo)航中的應(yīng)用。

作者簡介

　　趙紅梅，女，教授，信息與通信工程專業(yè)工學(xué)博士，碩士生導(dǎo)師，聯(lián)合博士導(dǎo)師，鄭州輕工業(yè)學(xué)院無線導(dǎo)航定位團隊負(fù)責(zé)人，河南省"超寬帶無線通信技術(shù)”及鄭州市"UWB實時定位系統(tǒng)”院士工作站院士助手，河南省優(yōu)秀碩士學(xué)位論文指導(dǎo)教師，河南省儀器儀表學(xué)會常務(wù)理事，副秘書長，河南省中文信息學(xué)會福利實戰(zhàn)；長期從事微帶天線設(shè)計、超寬帶無線通信技術(shù)等方向的研究；獲河南省科技進步獎二等獎4項，廳級科技成果一等獎6項，通過省級科技成果鑒定14項，授權(quán)國家發(fā)明專利9項，軟件著作權(quán)3件，主持及參與國家和省級項目12項，出版專著1部，參編教材1部，出版研究報告1部，發(fā)表論文40多篇。目前研究方向：微帶天線設(shè)計、超寬帶信號電波傳播特性研究、超寬帶室內(nèi)定位技術(shù)研究、陣列信號處理

圖書目錄

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(fā)展···························································································2
1.3 移動機器人的關(guān)鍵技術(shù)·····················································································3
1.4 導(dǎo)航定位的概念和分類·····················································································4
1.5 導(dǎo)航定位技術(shù)的發(fā)展趨勢··················································································5
參考文獻·············································································································6
第2 章常用的導(dǎo)航定位技術(shù)············································································7
2.1 衛(wèi)星導(dǎo)航定位技術(shù)··························································································7
2.1.1 衛(wèi)星導(dǎo)航定位系統(tǒng)的發(fā)展·······································································7
2.1.2 國內(nèi)外衛(wèi)星導(dǎo)航定位系統(tǒng)介紹··································································8
2.1.3 衛(wèi)星導(dǎo)航定位系統(tǒng)的組成·····································································.11
2.1.4 衛(wèi)星導(dǎo)航定位技術(shù)簡介········································································.16
2.2 SLAM 導(dǎo)航定位技術(shù)····················································································.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(dǎo)航定位技術(shù)·······················································································.21
2.3.1 Wi-Fi 定位技術(shù)···················································································.21
2.3.2 藍牙定位技術(shù)····················································································.24
2.3.3 ZigBee 定位技術(shù)·················································································.27
2.3.4 RFID 定位技術(shù)···················································································.29
2.3.5 地磁定位技術(shù)····················································································.32
2.3.6 智能天線定位技術(shù)··············································································.35
2.3.7 超聲波定位技術(shù)·················································································.38
2.3.8 紅外線定位技術(shù)·················································································.40
參考文獻··········································································································.41
第3 章 UWB 室內(nèi)定位技術(shù)·········································································.46
3.1 UWB 技術(shù)概述···························································································.46
3.1.1 UWB 技術(shù)定義···················································································.46
3.1.2 UWB 技術(shù)特點···················································································.47
3.1.3 UWB 技術(shù)的應(yīng)用················································································.47
3.1.4 UWB 室內(nèi)定位原理及系統(tǒng)構(gòu)成······························································.49
3.2 UWB 脈沖的產(chǎn)生和調(diào)制···············································································.51
3.2.1 UWB 信號的實現(xiàn)方法··········································································.51
3.2.2 常用的脈沖模板·················································································.54
3.2.3 基于數(shù)字邏輯電路的窄脈沖設(shè)計····························································.72
3.2.4 基于雙非門結(jié)構(gòu)的窄脈沖設(shè)計·······························································.80
3.2.5 UWB 脈沖信號的調(diào)制··········································································.84
3.3 UWB 接收機設(shè)計························································································.95
3.3.1 接收機同步原理·················································································.96
3.3.2 UWB 接收機原理及結(jié)構(gòu)··················································3