本书针对移动机器人中涉及的主要无线导航定位技术的最新研究成果进行了论述，涵盖了近年来作者团队在无线导航定位技术路径规划、定位算法及系统构架等方面取得的成果。全书共6 章，第1 章从移动机器人的概念入手，回顾了其发展历程和关键技术，深入探讨了导航定位的概念、分类及其发展趋势；第2 章详细介绍了移动机器人涉及的各种导航定位技术；第3 章详细介绍了UWB 定位技术的特点、应用及系统构成，深入介绍了UWB 脉冲的产生、调制技术及其接收机设计、UWB 室内定位算法的实现等；第4 章从惯性导航技术的基本概念和发展状况出发，介绍了惯性导航的基础理论、捷联惯性导航方法及其在各领域的应用，并对惯性导航定位技术的进展及未来发展趋势进行了介绍；第5 章介绍了SLAM 系统的各种算法、发展中存在的问题与对策，并为读者展示了SLAM 技术的最新研究方向和应用前景；第6 章详细论述了多源信息融合算法及其在组合导航中的应用。

赵红梅，女，教授，信息与通信工程专业工学博士，硕士生导师，联合博士导师，郑州轻工业学院无线导航定位团队负责人，河南省"超宽带无线通信技术”及郑州市"UWB实时定位系统”院士工作站院士助手，河南省优秀硕士学位论文指导教师，河南省仪器仪表学会常务理事，副秘书长，河南省中文信息学会福利实战；长期从事微带天线设计、超宽带无线通信技术等方向的研究；获河南省科技进步奖二等奖4项，厅级科技成果一等奖6项，通过省级科技成果鉴定14项，授权国家发明专利9项，软件著作权3件，主持及参与国家和省级项目12项，出版专著1部，参编教材1部，出版研究报告1部，发表论文40多篇。 目前研究方向：微带天线设计、超宽带信号电波传播特性研究、超宽带室内定位技术研究、阵列信号处理

第1 章 绪论········································································································1
1.1 移动机器人的概念···························································································1
1.2 移动机器人的发展···························································································2
1.3 移动机器人的关键技术·····················································································3
1.4 导航定位的概念和分类·····················································································4
1.5 导航定位技术的发展趋势··················································································5
参考文献·············································································································6
第2 章 常用的导航定位技术············································································7
2.1 卫星导航定位技术··························································································7
2.1.1 卫星导航定位系统的发展·······································································7
2.1.2 国内外卫星导航定位系统介绍··································································8
2.1.3 卫星导航定位系统的组成·····································································.11
2.1.4 卫星导航定位技术简介········································································.16
2.2 SLAM 导航定位技术····················································································.18
2.2.1 SLAM 常用传感器概述········································································.19
2.2.2 VSLAM····························································································.19
2.2.3 LidarSLAM························································································.20
2.3 其他导航定位技术·······················································································.21
2.3.1 Wi-Fi 定位技术···················································································.21
2.3.2 蓝牙定位技术····················································································.24
2.3.3 ZigBee 定位技术·················································································.27
2.3.4 RFID 定位技术···················································································.29
2.3.5 地磁定位技术····················································································.32
2.3.6 智能天线定位技术··············································································.35
2.3.7 超声波定位技术·················································································.38
2.3.8 红外线定位技术·················································································.40
参考文献··········································································································.41
第3 章 UWB 室内定位技术·········································································.46
3.1 UWB 技术概述···························································································.46
3.1.1 UWB 技术定义···················································································.46
3.1.2 UWB 技术特点···················································································.47
3.1.3 UWB 技术的应用················································································.47
3.1.4 UWB 室内定位原理及系统构成······························································.49
3.2 UWB 脉冲的产生和调制···············································································.51
3.2.1 UWB 信号的实现方法··········································································.51
3.2.2 常用的脉冲模板·················································································.54
3.2.3 基于数字逻辑电路的窄脉冲设计····························································.72
3.2.4 基于双非门结构的窄脉冲设计·······························································.80
3.2.5 UWB 脉冲信号的调制··········································································.84
3.3 UWB 接收机设计························································································.95
3.3.1 接收机同步原理·················································································.96
3.3.2 UWB 接收机原理及结构·······································································.98
3.3.3 方案设计··························································································102
3.4 UWB 室内定位算法研究···············································································129
3.4.1 研究现状··························································································129
3.4.2 常用定位算法简介··············································································131
3.4.3 UWB 室内定位算法的数学模型······························································135
3.4.4 UWB 厘米级室内定位算法设计······························································141
3.4.5 基于实际UWB 信道模型的定位算法设计·················································150
3.4.6 干扰对定位精度的影响分析··································································156
3.4.7 NLOS 环境下的定位算法研究································································164
3.4.8 移动目标的跟踪定位算法研究·······························································174
参考文献··········································································································202
第4 章 惯性导航技术····················································································210
4.1 概述·········································································································210
4.1.1 基本概念··························································································210
4.1.2 惯性导航技术的发展状况·····································································211
4.2 惯性导航基础·····························································································212
4.2.1 地球形状和重力模型···········································································212
4.2.2 哥氏力和比力····················································································217
4.2.3 常用坐标系·······················································································218
4.2.4 坐标变换与姿态·················································································221
4.3 捷联式惯性导航方法····················································································231
4.3.1 SINS 的工作原理················································································232
4.3.2 捷联式定位定姿系统初始定向工作原理···················································232
4.4 惯性导航应用·····························································································237
4.4.1 在舰船导航中的应用···········································································238
4.4.2 在行人定位中的应用···········································································238
4.4.3 在航空领域的应用··············································································238
4.4.4 在导弹制导中的应用···········································································238
4.4.5 在电子行业的应用··············································································239
4.5 惯性导航技术的最新进展及未来发展趋势·························································239
4.5.1 惯性导航技术的最新进展·····································································239
4.5.2 惯性导航技术的未来发展趋势·······························································239
参考文献··········································································································240
第5 章 机器人SLAM 技术·········································································242
5.1 SLAM 算法介绍··························································································242
5.1.1 基于特征点法的SLAM 算法··································································244
5.1.2 基于直接法的SLAM 算法·····································································247
5.1.3 融合特征点法和直接法的SLAM 算法······················································250
5.1.4 融合视觉信息和IMU 信息的SLAM 算法·················································252
5.1.5 动态场景下的SLAM 算法·····································································255
5.2 SLAM 技术发展中存在的问题与对策·······························································257
5.3 SLAM 技术发展前沿····················································································261
5.4 语义SLAM 技术·························································································263
5.4.1 语义信息用于特征选择········································································264
5.4.2 语义信息用于动态SLAM ·····································································266
5.4.3 语义信息用于单目SLAM 的尺度恢复······················································270
5.4.4 语义信息用于long-term 定位·································································271
5.4.5 语义信息用于提高定位精度··································································273
5.4.6 SLAM 的动态地图和语义问题·······························································275
5.5 点线SLAM 系统·························································································281
5.5.1 VSLAM 中的线段特征提取···································································283
5.5.2 基于点线综合特征的VSLAM 系统·························································295
5.6 SLAM 技术应用场景····················································································304
5.6.1 室内机器人·······················································································305
5.6.2 方量计算··························································································306
5.6.3 自动驾驶··························································································311
参考文献··········································································································312
第6 章 多源信息融合算法及其在组合导航中的应用·································317
6.1 基于KF 的状态估计研究现状·········································································318
6.1.1 KF 研究现状······················································································318
6.1.2 不确定系统的KF 研究现状···································································319
6.1.3 基于KF 的组合导航研究现状································································322
6.2 DKF 算法··································································································324
6.2.1 DKF 算法简介····················································································324
6.2.2 自适应快速DKF 算法··········································································324
6.2.3 自适应快速弱敏EKF 算法····································································328
6.2.4 自适应快速弱敏UKF算法···········································································331
6.3 SKF 算法及其在组合导航中的应用·································································344
6.3.1 SKF 算法··························································································344
6.3.2 Consider 集合KF 算法·········································································349
6.3.3 部分强跟踪Consider SDREF 算法及其应用···············································359
参考文献··········································································································372