多源导航融合与应用

第1 部分 基础篇
第1 章 绪论················································································.2
1.1 导航对象概述···································································.2
1.2 多源融合导航概述·····························································.4
1.3 多源融合导航基本理论·······················································.7
1.3.1 贝叶斯递归滤波·······················································.7
1.3.2 高斯滤波································································10
1.3.3 线性卡尔曼滤波·······················································12
1.3.4 非线性卡尔曼滤波····················································17
1.3.5 非线性滤波的发展····················································21
参考文献···············································································22
第2 章 导航信源··········································································27
2.1 惯性导航系统···································································27
2.1.1 惯性导航技术的发展及现状·········································27
2.1.2 惯性导航系统的基本原理···········································29
2.1.3 两种惯性导航系统对比··············································37
2.2 卫星导航系统···································································39
2.2.1 卫星导航技术的发展及现状·········································39
2.2.2 卫星导航系统的定位原理···········································40
2.2.3 卫星导航系统的定位特点···········································42
2.2.4 北斗卫星导航系统····················································42
2.3 天文导航系统···································································45
2.3.1 天文导航技术的发展及现状·········································45
2.3.2 星敏感器的结构及其工作原理······································47
2.3.3 天文导航系统的基本原理···········································49
2.3.4 天文导航系统的特点·················································50
2.4 地磁导航系统···································································51
2.4.1 地磁导航技术的发展及现状·········································51
2.4.2 地磁导航系统的基本原理···········································54
2.4.3 地磁导航系统的特点·················································58
2.5 多普勒导航系统································································59
2.5.1 多普勒导航技术的发展及现状······································59
2.5.2 多普勒导航系统的基本原理·········································60
2.5.3 多普勒导航系统的特点··············································63
2.6 重力导航系统···································································64
2.6.1 重力导航技术的发展及现状·········································64
2.6.2 重力导航系统的基本原理···········································66
2.7 仿生导航系统···································································69
2.7.1 仿生导航技术的发展及现状·········································69
2.7.2 仿生偏振光导航系统的基本原理···································71
参考文献···············································································74
第3 章 多源融合导航算法框架························································81
3.1 卡尔曼滤波融合导航··························································81
3.1.1 集中式序贯卡尔曼滤波融合导航···································81
3.1.2 分布式联邦卡尔曼滤波融合导航···································84
3.2 因子图融合导航································································89
3.2.1 因子图理论·····························································89
3.2.2 基于因子图的导航系统建模·········································94
3.2.3 多源信息融合因子图算法···········································96
3.2.4 自适应因子图融合导航··············································98
3.3 交互多模型融合导航·······················································.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导航算法··························.102
参考文献············································································.104
第2 部分 航空篇
第4 章 无人机及其集群······························································.107
4.1 无人机发展概述·····························································.107
4.1.1 军用无人机··························································.107
4.1.2 工业级无人机·······················································.109
4.1.3 消费级无人机·······················································.110
4.2 无人机多源融合导航概述··················