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(xiàn)···············································································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(xiàn)···············································································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(xiàn)············································································.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··················