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內容簡介

　　本書分為基礎篇、航空篇、航天篇，共9 章。本書本書側重于講述多種導航信源的相互融合，取長補短，實現(xiàn)多源融合下的航空航天飛行器穩(wěn)定、高精度導航。書中著重介紹了不同導航信源的發(fā)展及現(xiàn)狀、基本原理、工作特性與優(yōu)缺點等；不同的多源融合導航算法及其基本原理；基于數(shù)學方法的無人機集群協(xié)同導航算法；地磁導航技術及其與傳統(tǒng)慣性導航系統(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，工學博士，教授/博士生導師，西北工業(yè)大學自動化學院副院長，主要從事新型慣性器件設計、慣導系統(tǒng)集成與測試、SAR圖像處理、物體三維感知、雷達目標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"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?？茖W技術一等獎（排名第1），陜西省科學技術二等獎（排名第5）。2016-2017年在英國曼徹斯特大學開展訪問學者研究，與合作導師合作發(fā)表多篇高水平論文，多次擔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；擔任中國自動化學會教育工作委員會"全國高校自動化方向培養(yǎng)方案構建工作組”組長、陜西省自動化學會控制理論與應用專委會主任委員等。

圖書目錄

第1 部分基礎篇
第1 章緒論················································································.2
1.1 導航對象概述···································································.2
1.2 多源融合導航概述·····························································.4
1.3 多源融合導航基本理論·······················································.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 章導航信源··········································································27
2.1 慣性導航系統(tǒng)···································································27
2.1.1 慣性導航技術的發(fā)展及現(xiàn)狀·········································27
2.1.2 慣性導航系統(tǒng)的基本原理···········································29
2.1.3 兩種慣性導航系統(tǒng)對比··············································37
2.2 衛(wèi)星導航系統(tǒng)···································································39
2.2.1 衛(wèi)星導航技術的發(fā)展及現(xiàn)狀·········································39
2.2.2 衛(wèi)星導航系統(tǒng)的定位原理···········································40
2.2.3 衛(wèi)星導航系統(tǒng)的定位特點···········································42
2.2.4 北斗衛(wèi)星導航系統(tǒng)····················································42
2.3 天文導航系統(tǒng)···································································45
2.3.1 天文導航技術的發(fā)展及現(xiàn)狀·········································45
2.3.2 星敏感器的結構及其工作原理······································47
2.3.3 天文導航系統(tǒng)的基本原理···········································49
2.3.4 天文導航系統(tǒng)的特點·················································50
2.4 地磁導航系統(tǒng)···································································51
2.4.1 地磁導航技術的發(fā)展及現(xiàn)狀·········································51
2.4.2 地磁導航系統(tǒng)的基本原理···········································54
2.4.3 地磁導航系統(tǒng)的特點·················································58
2.5 多普勒導航系統(tǒng)································································59
2.5.1 多普勒導航技術的發(fā)展及現(xiàn)狀······································59
2.5.2 多普勒導航系統(tǒng)的基本原理·········································60
2.5.3 多普勒導航系統(tǒng)的特點··············································63
2.6 重力導航系統(tǒng)···································································64
2.6.1 重力導航技術的發(fā)展及現(xiàn)狀·········································64
2.6.2 重力導航系統(tǒng)的基本原理···········································66
2.7 仿生導航系統(tǒng)···································································69
2.7.1 仿生導航技術的發(fā)展及現(xiàn)狀·········································69
2.7.2 仿生偏振光導航系統(tǒng)的基本原理···································71
參考文獻···············································································74
第3 章多源融合導航算法框架························································81
3.1 卡爾曼濾波融合導航··························································81
3.1.1 集中式序貫卡爾曼濾波融合導航···································81
3.1.2 分布式聯(lián)邦卡爾曼濾波融合導航···································84
3.2 因子圖融合導航································································89
3.2.1 因子圖理論·····························································89
3.2.2 基于因子圖的導航系統(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 自適應因子圖融合導航··············································98
3.3 交互多模型融合導航·······················································.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 無人機多源融合導航概述··················