移動機器人導(dǎo)航定位技術(shù)

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