移動機器人導航定位技術

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 移動機器人的關鍵技術·····················································································3
1.4 導航定位的概念和分類·····················································································4
1.5 導航定位技術的發(fā)展趨勢··················································································5
參考文獻·············································································································6
第2 章 常用的導航定位技術············································································7
2.1 衛(wèi)星導航定位技術··························································································7
2.1.1 衛(wèi)星導航定位系統(tǒng)的發(fā)展·······································································7
2.1.2 國內外衛(wèi)星導航定位系統(tǒng)介紹··································································8
2.1.3 衛(wèi)星導航定位系統(tǒng)的組成·····································································.11
2.1.4 衛(wèi)星導航定位技術簡介········································································.16
2.2 SLAM 導航定位技術····················································································.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 其他導航定位技術·······················································································.21
2.3.1 Wi-Fi 定位技術···················································································.21
2.3.2 藍牙定位技術····················································································.24
2.3.3 ZigBee 定位技術·················································································.27
2.3.4 RFID 定位技術···················································································.29
2.3.5 地磁定位技術····················································································.32
2.3.6 智能天線定位技術··············································································.35
2.3.7 超聲波定位技術·················································································.38
2.3.8 紅外線定位技術·················································································.40
參考文獻··········································································································.41
第3 章 UWB 室內定位技術·········································································.46
3.1 UWB 技術概述···························································································.46
3.1.1 UWB 技術定義···················································································.46
3.1.2 UWB 技術特點···················································································.47
3.1.3 UWB 技術的應用················································································.47
3.1.4 UWB 室內定位原理及系統(tǒng)構成······························································.49
3.2 UWB 脈沖的產(chǎn)生和調制···············································································.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計····························································.72
3.2.4 基于雙非門結構的窄脈沖設計·······························································.80
3.2.5 UWB 脈沖信號的調制··········································································.84
3.3 UWB 接收機設計························································································.95
3.3.1 接收機同步原理·················································································.96
3.3.2 UWB 接收機原理及結構··················································3