本书分为基础篇、航空篇、航天篇，共9 章。本书本书侧重于讲述多种导航信源的相互融合，取长补短，实现多源融合下的航空航天飞行器稳定、高精度导航。书中着重介绍了不同导航信源的发展及现状、基本原理、工作特性与优缺点等；不同的多源融合导航算法及其基本原理；基于数学方法的无人机集群协同导航算法；地磁导航技术及其与传统惯性导航系统的融合算法，并通过实例及仿真验证，对比各种算法、模型及系统的优劣，具有较强的实用性。
王小旭，1982年生，工学博士，教授/博士生导师，西北工业大学自动化学院副院长，主要从事新型惯性器件设计、惯导系统集成与测试、SAR图像处理、物体三维感知、雷达目标跟踪与信息融合等研究。连续主持国家自然基金面上项目2项、青年项目1项，入选西北工业大学"翱翔新星”人才项目；以第一/二作者 出版专著2部；发表论文50余篇，其中在控制领域公认顶级期刊IEEE TAC与Automatica发表/录用论文9篇（长文2篇），中科院认定的TOP期刊论文15 篇；获陕西省高等学校科学技术一等奖（排名第1），陕西省科学技术二等奖（排名第5）。2016-2017年在英国曼彻斯特大学开展访问学者研究，与合作导师合作发表多篇高水平论文，多次担任国际会议程序委员会委员以及专题研讨会、分会场等主席；担任中国自动化学会教育工作委员会"全国高校自动化方向培养方案构建工作组”组长、陕西省自动化学会控制理论与应用专委会主任委员等。
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·················································.111
4.2.1 惯性/卫星融合导航系统···········································.112
4.2.2 惯性/天文融合导航系统···········································.113
4.2.3 惯性/卫星/天文融合导航系统····································.114
4.3 无人机集群概述·····························································.116
4.3.1 无人机集群编队的重要性········································.116
4.3.2 无人机集群发展现状··············································.119
4.3.3 无人机集群关键技术··············································.120
4.4 无人机集群协同导航概述·················································.125
4.4.1 无人机集群协同导航的结构······································.125
4.4.2 无人机集群协同导航技术········································.127
参考文献············································································.132
第5 章 无人机多源融合导航算法··················································.135
5.1 无人机多源融合导航算法概述···········································.135
5.2 MIMU/BDS 融合导航算法················································.138
5.2.1 基于加性四元数的MIMU 误差方程····························.138
5.2.2 MIMU/BDS 融合导航实现方式··································.143
5.2.3 基于容积卡尔曼滤波的MIMU/BDS 融合导航实现方式····.148
5.2.4 MIMU/BDS 融合导航算法存在的问题及解决方法··········.153
5.3 MIMU/BDS/CNS 融合导航算法··········································.163
5.3.1 MIMU/BDS/CNS 集中式融合导航算法························.163
5.3.2 MIMU/BDS/CNS 分布式融合导航算法························.165
5.3.3 MIMU/BDS/CNS 融合导航算法存在的问题及解决方法····.169
参考文献············································································.181
第6 章 无人机集群协同导航算法··················································.184
6.1 无人机集群协同导航算法概述···········································.184
6.1.1 基于传感器类型的无人机集群协同导航算法分类···········.184
多源导航融合与应用
XII
6.1.2 基于数学方法的无人机集群协同导航算法分类··············.185
6.2 基于运动模型的无人机集群分层式协同导航算法····················.187
6.2.1 基于运动模型的无人机集群分层式协同导航模式···········.187
6.2.2 基于联邦容积卡尔曼滤波的协同导航算法····················.191
6.2.3 仿真分析·····························································.198
6.3 无人机集群分层式惯性基协同导航绝对定位算法····················.207
6.3.1 基于惯导的协同导航模式········································.208
6.3.2 基于联邦扩展卡尔曼滤波的协同导航算法····················.214
6.3.3 仿真分析·····························································.215
参考文献············································································.220
第3 部分 航天篇
第7 章 高速飞行器····································································.224
7.1 高速飞行器发展概述·······················································.224
7.1.1 美国高速飞行器发展概述········································.225
7.1.2 俄罗斯高速飞行器发展概述······································.230
7.1.3 中国高速飞行器发展概述········································.231
7.1.4 其他国家高速飞行器发展概述···································.232
7.2 高速飞行器导航系统概述·················································.233
7.2.1 高速飞行器导航算法对比········································.233
7.2.2 高速飞行器导航系统分析········································.236
7.2.3 高速飞行器导航特点分析········································.239
参考文献············································································.240
第8 章 高速飞行器惯性基融合导航算法·········································.243
8.1 高速飞行器惯导系统·······················································.243
8.1.1 常用坐标系介绍及参数说明······································.243
8.1.2 坐标系之间的转换·················································.246
8.1.3 高速飞行器捷联式惯导计算······································.251
8.1.4 发射坐标系下捷联式惯导系统误差方程·······················.263
8.2 高速飞行器SINS/BDS 融合导航·········································.265
8.2.1 SINS/BDS 融合导航系统简介····································.265
8.2.2 发射坐标系下的SINS/BDS 松耦合导航算法·················.266
8.2.3 发射坐标系下的SINS/BDS 紧耦合导航算法·················.269
8.2.4 发射坐标系下的SINS/BDS 融合导航算法仿真分析········.272
目录
XIII
8.3 高速飞行器SINS/CNS 融合导航·········································.281
8.3.1 SINS/CNS 融合导航系统简介····································.281
8.3.2 CNS 星敏感器矢量定姿原理·····································.284
8.3.3 SINS/CNS 融合导航算法··········································.295
8.3.4 SINS/CNS 融合导航算法仿真分析······························.297
8.4 高速飞行器SINS/BDS/CNS 融合导航··································.302
8.4.1 SINS/BDS/CNS 融合导航系统简介·····························.302
8.4.2 SINS/BDS/CNS 融合导航算法···································.302
8.4.3 SINS/BDS/CNS 融合导航算法仿真分析·······················.308
参考文献············································································.311
第9 章 高速飞行器惯性/地磁融合导航算法······································.312
9.1 地磁导航技术概述··························································.312
9.1.1 地磁场简介··························································.314
9.1.2 地磁场模型··························································.316
9.1.3 仿真分析·····························································.320
9.2 惯性/地磁融合导航算法···················································.323
9.2.1 状态方程·····························································.323
9.2.2 量测方程·····························································.323
9.3 基于地磁轮廓匹配技术的惯性/地磁融合导航算法···················.324
9.3.1 经典MAGCOM 算法原理········································.325
9.3.2 改进的MAGCOM 算法原理·····································.326
9.3.3 改进的MAGCOM 算法流程·····································.328
9.3.4 改进的MAGCOM 算法仿真·····································.329
9.4 基于迭代最近轮廓点匹配技术的惯性/地磁融合导航算法··········.331
9.4.1 ICCP 算法原理······················································.331
9.4.2 ICCP 算法流程······················································.334
9.4.3 ICCP 算法仿真······················································.335
9.5 基于桑迪亚地磁辅助技术的惯性/地磁融合导航算法················.337
9.5.1 SIMAN 算法原理···················································.338
9.5.2 地磁图线性化技术·················································.339
9.5.3 SIMAN 算法流程···················································.342
9.5.4 SIMAN 算法仿真···················································.343
9.6 基于多地磁分量辅助定位技术的惯性/地磁融合导航算法··········.345
9.6.1 MCAL 算法原理····················································.345
多源导航融合与应用
XIV
9.6.2 MCAL 算法流程····················································.347
9.6.3 MCAL 算法仿真····················································.348
9.7 各惯性/地磁融合导航算法对比分析·····································.350
参考文献············································································.351
附录A 欧拉角和转换矩阵···························································.353
附录B 缩写表··········································································.357
附录C 基础篇符号表·································································.361
附录D 航空篇符号表·································································.367
附录E 航天篇符号表·································································.371
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