123,123

內(nèi)容簡(jiǎn)介

　　本書(shū)針對(duì)移動(dòng)機(jī)器人中涉及的主要無(wú)線(xiàn)導(dǎo)航定位技術(shù)的最新研究成果進(jìn)行了論述，涵蓋了近年來(lái)作者團(tuán)隊(duì)在無(wú)線(xiàn)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(shū)共6 章，第1 章從移動(dòng)機(jī)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(lèi)及其發(fā)展趨勢(shì)；第2 章詳細(xì)介紹了移動(dòng)機(jī)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(diǎn)、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(jī)設(shè)計(jì)、UWB 室內(nèi)定位算法的實(shí)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(duì)慣性導(dǎo)航定位技術(shù)的進(jìn)展及未來(lái)發(fā)展趨勢(shì)進(jìn)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(wèn)題與對(duì)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(jiǎn)介

　　趙紅梅，女，教授，信息與通信工程專(zhuān)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(wú)線(xiàn)導(dǎo)航定位團(tuán)隊(duì)負(fù)責(zé)人，河南省"超寬帶無(wú)線(xiàn)通信技術(shù)”及鄭州市"UWB實(shí)時(shí)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(huì)常務(wù)理事，副秘書(shū)長(zhǎng)，河南省中文信息學(xué)會(huì)福利實(shí)戰(zhàn)；長(zhǎng)期從事微帶天線(xiàn)設(shè)計(jì)、超寬帶無(wú)線(xiàn)通信技術(shù)等方向的研究；獲河南省科技進(jìn)步獎(jiǎng)二等獎(jiǎng)4項(xiàng)，廳級(jí)科技成果一等獎(jiǎng)6項(xiàng)，通過(guò)省級(jí)科技成果鑒定14項(xiàng)，授權(quán)國(guó)家發(fā)明專(zhuān)利9項(xiàng)，軟件著作權(quán)3件，主持及參與國(guó)家和省級(jí)項(xiàng)目12項(xiàng)，出版專(zhuān)著1部，參編教材1部，出版研究報(bào)告1部，發(fā)表論文40多篇。目前研究方向：微帶天線(xiàn)設(shè)計(jì)、超寬帶信號(hào)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(hào)處理

圖書(shū)目錄

第1 章緒論········································································································1
1.1 移動(dòng)機(jī)器人的概念···························································································1
1.2 移動(dòng)機(jī)器人的發(fā)展···························································································2
1.3 移動(dòng)機(jī)器人的關(guān)鍵技術(shù)·····················································································3
1.4 導(dǎo)航定位的概念和分類(lèi)·····················································································4
1.5 導(dǎo)航定位技術(shù)的發(fā)展趨勢(shì)··················································································5
參考文獻(xiàn)·············································································································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(guó)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(jiǎn)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(lán)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(xiàn)定位技術(shù)··············································································.35
2.3.7 超聲波定位技術(shù)·················································································.38
2.3.8 紅外線(xiàn)定位技術(shù)·················································································.40
參考文獻(xiàn)··········································································································.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(diǎn)···················································································.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(hào)的實(shí)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(jì)····························································.72
3.2.4 基于雙非門(mén)結(jié)構(gòu)的窄脈沖設(shè)計(jì)·······························································.80
3.2.5 UWB 脈沖信號(hào)的調(diào)制··········································································.84
3.3 UWB 接收機(jī)設(shè)計(jì)························································································.95
3.3.1 接收機(jī)同步原理·················································································.96
3.3.2 UWB 接收機(jī)原理及結(jié)構(gòu)··················································3